autoware_probabilistic_occupancy_grid_map

Purpose

This package outputs the probability of having an obstacle as occupancy grid map.

References/External links

• Pointcloud based occupancy grid map
• Laserscan based occupancy grid map
• Grid map fusion

Settings

Occupancy grid map is generated on map_frame, and grid orientation is fixed.

You may need to choose scan_origin_frame and gridmap_origin_frame which means sensor origin and gridmap origin respectively. Especially, set your main LiDAR sensor frame (e.g. velodyne_top in sample_vehicle) as a scan_origin_frame would result in better performance.

Parameters

• binary bayes filter updater

  {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json”) }}

• grid map

  {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json”) }}

• laserscan based occupancy grid map

  {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json”) }}

• multi lidar pointcloud based occupancy grid map

  {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json”) }}

• pointcloud based occupancy grid map

  {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json”) }}

• synchronized grid map fusion

  {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json”) }}

Downsample input pointcloud(Optional)

If you set downsample_input_pointcloud to true, the input pointcloud will be downsampled and following topics are also used. This feature is currently only for the pointcloud based occupancy grid map.

• pointcloud_based_occupancy_grid_map method

# downsampled raw and obstacle pointcloud
/perception/occupancy_grid_map/obstacle/downsample/pointcloud
/perception/occupancy_grid_map/raw/downsample/pointcloud

• multi_lidar_pointcloud_based_point_cloud

# downsampled raw and obstacle pointcloud
/perception/occupancy_grid_map/obstacle/downsample/pointcloud
/perception/occupancy_grid_map/<sensor_name>/raw/downsample/pointcloud

Test

This package provides unit tests using gtest. You can run the test by the following command.

colcon test --packages-select autoware_probabilistic_occupancy_grid_map --event-handlers console_direct+

Test contains the following.

• Unit test for cost value conversion function
• Unit test for utility functions
• Unit test for occupancy grid map fusion functions
• Input/Output test for pointcloud based occupancy grid map

Changelog for package autoware_probabilistic_occupancy_grid_map

0.50.0 (2026-02-14)

• Merge remote-tracking branch 'origin/main' into humble
• feat(autoware_probabilistic_occupancy_grid_map): update nvcc flags (#12052)
• feat!: remove ROS 2 Galactic codes (#11905)
• fix(probabilistic_occupancy_grid_map): add missing [#include <cstdint>]{.title-ref} (#11919)
• Contributors: Amadeusz Szymko, Mete Fatih Cırıt, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

• Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

• docs: fix broken links (#11815)

• fix(autoware_probabilistic_occupancy_grid_map): prevent local_map leak in occupancy grid map updateOrigin (#11765)

  • fix(occupancy_grid_map): avoid local_map leak in updateOrigin
  • style(pre-commit): autofix

  * Fix local map resize type and format copyMapRegion ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• Contributors: Hongliang Liu, Mete Fatih Cırıt, Ryohsuke Mitsudome

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble
• fix(autoware_probabilistic_occupancy_grid_map): skip frame when TF is unavailable to avoid crash (#11281)
• Contributors: Ryohsuke Mitsudome, multimeters

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

• style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
• style(pre-commit): autofix (#10982) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
• Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

• Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base

• feat(autoware_probabilistic_occupancy_grid_map): added target architectures for the ogm (#10614)

  • chore: added target architectures for the ogm

  * chore: mistook the compute capabilities of edge devices ---------

• 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 ---------

• fix(probabilistic_occupancy_grid_map): add missing parameter for multi-lidar (#10578) add new parameter for multi-lidar

• fix(autoware_probabilistic_occupancy_grid_map): fix to avoid division by zero (#10599)

• fix(autoware_probabilistic_occupancy_grid_map): incorrect placement of updateOrigin init call check (#10565)

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