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autoware_crop_box_filter package from autoware_core repo

autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

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Package Summary

Tags No category tags.
Version 1.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-06-07
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The ROS 2 autoware_crop_box_filter package

Additional Links

No additional links.

Maintainers

  • amc-nu
  • Yukihiro Saito
  • Kyoichi Sugahara
  • Dai Nguyen
  • Kenzo Lobos-Tsunekawa
  • Yihsiang Fang
  • Yoshi Ri
  • David Wong
  • Melike Tanrikulu
  • Max Schmeller
  • Xingang Liu

Authors

No additional authors.
sensing/autoware_crop_box_filter/README.md

autoware_crop_box_filter

Overview

The autoware_crop_box_filter is a package that crops the input pointcloud to a specified bounding box. This is useful for reducing the computational load and improving the performance of the system.

Design

The autoware_crop_box_filter is implemented as a autoware core node that subscribes to the input pointcloud, and publishes the filtered pointcloud. The bounding box is specified using the min_point and max_point parameters.

Inputs / Outputs

Input

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points

Output

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points
~/crop_box_polygon geometry_msgs::msg::PolygonStamped bounding box polygon

Parameters

Launch file Parameters

Name Type Default Value Description
input_frame string ” “ the frame id in which filtering is performed
output_frame string ” “ output frame id of the filtered points
input_pointcloud_frame string ” “ frame id of input pointcloud
max_queue_size int 5 max buffer size of input/output topics
crop_box_filter_param_file string ” “ path to the parameter file for the node

Node Parameters

Name Type Default Value Description
min_x double -5.0 minimum x value of the crop box
min_y double -5.0 minimum y value of the crop box
min_z double -5.0 minimum z value of the crop box
max_x double 5.0 maximum x value of the crop box
max_y double 5.0 maximum y value of the crop box
max_z double 5.0 maximum z value of the crop box
negative bool true if true, points inside the box are removed, otherwise points outside the box are removed

Usage

1.publish static tf from input pointcloud to target frame that is used for filtering

ros2 run tf2_ros static_transform_publisher 2.0 3.2 1.3 0 0 0 1  velodyne_top_base_link  base_link

2.launch node

ros2 launch autoware_crop_box_filter crop_box_filter_node.launch.xml

3. launch rviz2 and AWSIM

CHANGELOG

Changelog for package autoware_crop_box_filter

1.1.0 (2025-05-01)

  • feat(autoware_utils): remove managed transform buffer (#360)
    • feat(autoware_utils): remove managed transform buffer

    * fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

  • chore: update version in package.xml
  • feat(autoware_crop_box_filter): reimplementation in core repo (#279) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
  • Contributors: Ryohsuke Mitsudome, 心刚

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/crop_box_filter_node.launch.xml
      • input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
      • output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • input_pointcloud_frame [default: velodyne_top_base_link]
      • crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange

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