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autoware_downsample_filters 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 0.0.0
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_downsample_filters 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
  • Norah Xiong

Authors

No additional authors.
sensing/autoware_downsample_filters/README.md

autoware_downsample_filters

Overview

The autoware_downsample_filters is a package that that reduces the number of points of the pointcloud.

Design

The autoware_downsample_filters is implemented for reducing the computational load and improving the performance of the system.

Inner-workings / Algorithms

Random Downsample Filter

pcl::RandomSample is used, which points are sampled with uniform probability.

Voxel Grid Downsample Filter

pcl::VoxelGrid is used, which points in each voxel are approximated with their centroid.

Pickup Based Voxel Grid Downsample Filter

This algorithm samples a single actual point existing within the voxel, not the centroid. The computation cost is low compared to Centroid Based Voxel Grid Filter.

Inputs / Outputs

Input

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

Output

Name Type Description
output sensor_msgs::msg::PointCloud2 downsampled points

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
max_queue_size size_t 5 max buffer size of input/output topics

Node Parameters

random_downsample_filter_node

Name Type Default Value Description
sample_num size_t 1500 random sample number

voxel_grid_downsample_filter_node

Name Type Default Value Description
voxel_size_x double 0.3 x value of the voxel
voxel_size_y double 0.3 y value of the voxel
voxel_size_z double 0.1 z value of the voxel

Usage

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

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 one of the downsample node

ros2 launch autoware_downsample_filters random_downsample_filter_node.launch.xml

3. launch rviz2 and AWSIM to check the downsample result

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) Future extensions / Unimplemented parts

CHANGELOG
No CHANGELOG found.

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/voxel_grid_downsample_filter_node.launch.xml
      • input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
      • output_topic_name [default: /sensing/lidar/top/voxel_grid_downsample_filter/pointcloud]
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  • launch/random_downsample_filter_node.launch.xml
      • input_topic_name [default: /sensing/lidar/top/pointcloud_raw]
      • output_topic_name [default: /sensing/lidar/top/random_downsample_filter/pointcloud]
      • input_frame [default: ]
      • output_frame [default: ]
      • random_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/random_downsample_filter_node.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_downsample_filters at Robotics Stack Exchange

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