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autoware_ground_segmentation package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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github

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Package Summary

Tags	No category tags.
Version	0.46.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_segmentation package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Taekjin Lee

Authors

Open Perception
Julius Kammerl
William Woodall

perception/autoware_ground_segmentation/README.md

autoware_ground_segmentation

Purpose

The autoware_ground_segmentation is a node that remove the ground points from the input pointcloud.

Inner-workings / Algorithms

Detail description of each ground segmentation algorithm is in the following links.

Filter Name	Description	Detail
ray_ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link
scan_ground_filter	Almost the same method as `ray_ground_filter`, but with slightly improved performance	link
ransac_ground_filter	A method of removing the ground by approximating the ground to a plane	link

Inputs / Outputs

Input

Name	Type	Description
`~/input/points`	`sensor_msgs::msg::PointCloud2`	reference points
`~/input/indices`	`pcl_msgs::msg::Indices`	reference indices

Output

Name	Type	Description
`~/output/points`	`sensor_msgs::msg::PointCloud2`	filtered points

Parameters

Node Parameters

Name	Type	Default Value	Description
`input_frame`	string	” “	input frame id
`output_frame`	string	” “	output frame id
`max_queue_size`	int	5	max queue size of input/output topics
`use_indices`	bool	false	flag to use pointcloud indices
`latched_indices`	bool	false	flag to latch pointcloud indices
`approximate_sync`	bool	false	flag to use approximate sync option

Assumptions / Known limits

autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

References/External links

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

CHANGELOG

Changelog for package autoware_ground_segmentation

0.46.0 (2025-06-20)

Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
feat(autoware_pointcloud_preprocessor): add diagnostic message (#10579)
- feat: add diag msg
- chore: fix code
- chore: remove outlier count in ring
- chore: move format timestamp to utility
- chore: add paramter to schema
- chore: add parameter for cluster
- chore: clean code
- chore: fix schema
- chore: move diagnostic updater to filter base class
- chore: fix schema
- chore: fix spell error
- chore: set up diagnostic updater
- refactor: utilize autoware_utils diagnostic message
- chore: add publish
- chore: add detail message
- chore: const for time difference
- refactor: structure diagnostics to class
- chore: const reference
- chore: clean logic
- chore: modify function name
- chore: update parameter
- chore: move evaluate status into diagnostic
- chore: fix description for concatenated pointcloud
- chore: timestamp mismatch threshold
- chore: fix diagnostic key
* chore: change function naming ---------
fix(scan_ground_segmentation): separate parameter for recheck ignore distance (#10686)
- fix(scan_ground_segmentation): fix recheck effective range
- feat: separate param for recheck region
- chore: docs and test update
- chore: docs
- chore: rename param
* chore: fix schema ---------
Contributors: TaikiYamada4, Yi-Hsiang Fang (Vivid), badai nguyen

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
fix(autoware_ground_segmentation): correct slope threshold global to local (#10666)
- fix(grid_ground_filter): correct slope threshold global to local
* Update perception/autoware_ground_segmentation/src/scan_ground_filter/grid_ground_filter.cpp Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>
- Update grid_ground_filter.cpp
* fix(grid_ground_filter): update slope threshold from global to local ---------Co-authored-by: badai nguyen <<94814556+badai-nguyen@users.noreply.github.com>>
chore: perception code owner update (#10645)
- chore: update maintainers in multiple perception packages
* Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.
- chore: update maintainers in multiple perception packages
* chore: add Kok Seang Tan as maintainer in multiple perception packages ---------
docs(autoware_ground_segmentation): move parameter table to respective README (#10500)
Contributors: Ryohsuke Mitsudome, Taekjin LEE, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_pointcloud_preprocessor
	autoware_utils
	autoware_vehicle_info_utils
	managed_transform_buffer
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

Name
libopencv-dev
yaml-cpp

Dependant Packages

Name	Deps
tier4_perception_launch

Launch files

launch/ransac_ground_filter.launch.xml
- - ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
  - input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
  - output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
launch/ray_ground_filter.launch.xml
- - ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ray_ground_filter.param.yaml]
  - input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
  - output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
launch/scan_ground_filter.launch.xml
- - ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/scan_ground_filter.param.yaml]
  - vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
  - input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
  - output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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