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

0.45.0 (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)
• fix(autoware_probabilistic_occupancy_grid_map): skipped first iteration (#10558) fix: the first iteration fails due to how the algorithm is designed (the delta between poses is too high). However, the first iteration of the update routine is actually not needed in the first iteration, so I skipped it
• Contributors: Amadeusz Szymko, Kento Yabuuchi, Kenzo Lobos Tsunekawa, Taekjin LEE, TaikiYamada4, Tomohito ANDO

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

• Merge remote-tracking branch 'origin/main' into humble
• feat(probabilistic_occupancy_grid_map): add diagnostics warning when latency is too long (#10280)
  • feat(probabilistic_occupancy_grid_map): add diagnostics warning when latency is too long
  • feat(probabilistic_occupancy_grid_map): add default max_output_delay_ms_
  • style(pre-commit): autofix
  • feat(probabilistic_occupancy_grid_map): fix reading parameters and add schema
  • style(pre-commit): autofix
  • feat(probabilistic_occupancy_grid_map):1. add tolerance duration 2. change to process time
  • feat(probabilistic_occupancy_grid_map): modification since it is clear that the target isprocess time

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• fix(autoware_probabilistic_occupancy_grid_map): fixed transform issues and border conditions (#10344)
  • fix: fixed transform issues and border conditions

  * fix: fixed compilation on cpu only builds ---------

• Contributors: Kenzo Lobos Tsunekawa, Ryohsuke Mitsudome, lei.gu

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• refactor: add autoware_cuda_dependency_meta (#10073)
• Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• chore(autoware_probabilistic_occupancy_grid_map): fixed cuda use on non-cuda settings (#10099) chore: fixed cuda use on non-cuda settings
• fix(probabilistic_occupancy_grid_map): build and runtime on non-cuda environments (#10061)
  • feat: improved data handling in the ogm. When using the full concatenated pointcloud the processing time decreases from 8ms to 4ms
  • feat: added header blocks for non-cuda environments
  • chore: removed the cuda includes from the global includes
  • fix: missed one header include
  • chore: added more cuda related macros
  • chore: lint errors

  * feat: fixed errors during merge ---------

• feat(autoware_probabilistic_occupancy_grid_map): improved data handling on the ogm (#10060) feat: improved data handling in the ogm. When using the full concatenated pointcloud the processing time decreases from 8ms to 4ms
• Contributors: Fumiya Watanabe, Kenzo Lobos Tsunekawa, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_probabilistic_occupancy_grid_map): cuda accelerated implementation (#9542)
  • feat: implemented a cuda accelerated ogm
  • chore: fixed cspells
  • chore: unused header and variable names
  • chore: cspell fixes
  • chore: cppcheck fix attempt
  • fix: attempting to fix ci/cd regarding the cuda library
  • chore: fixed the order of the cuda check in the cmakelist
  • fix: removed cuda as a required dep for cpu only builds
  • fix: missing cuda linking (?)
  • feat: fixed single mode, added streams, and added the restrict keyword
  • chore: replaced a potential indetermination using an epsilon

  * Update perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater_kernel.cu Co-authored-by: Yoshi Ri <<yoshiyoshidetteiu@gmail.com>> * Update perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater_kernel.cu Co-authored-by: Yoshi Ri <<yoshiyoshidetteiu@gmail.com>>

  • style(pre-commit): autofix
  • chore: added bound checkings in the update origin kernel
  • chore: disabled tests since universe does not support cuda in ci/cd
  • chore: added me as a maintainer
  • fix: missedn the end in the cmake

  * chore: moved the boudnary checks to only the cuda version since the cpu version uses the upstream logic ---------Co-authored-by: Yoshi Ri <<yoshiyoshidetteiu@gmail.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat(autoware_probabilistic_occupancy_grid_map): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_probabilistic_occupancy_grid_map (#9895) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_probabilistic_occupancy_grid_map Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>
• fix(perception): fix perception docs (#9766)
  • fix: fix perception docs
  • fix: fix missing parameter in schema

  * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  • style(pre-commit): autofix

  * chore: seperate paramters for different nodes ---------Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-branch-clone (#9652) fix: bugprone-error
• Contributors: Fumiya Watanabe, Kenzo Lobos Tsunekawa, Vishal Chauhan, Yi-Hsiang Fang (Vivid), kobayu858

0.40.0 (2024-12-12)

• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
• fix: fix ticket links in CHANGELOG.rst (#9588)
• chore(package.xml): bump version to 0.39.0 (#9587)
  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)
• 0.39.0
• update changelog
• Merge commit '6a1ddbd08bd' into release-0.39.0
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (#9221) fix: bugprone-incorrect-roundings
• Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858

0.39.0 (2024-11-25)

• Merge commit '6a1ddbd08bd' into release-0.39.0
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (#9221) fix: bugprone-incorrect-roundings
• Contributors: Esteve Fernandez, Yutaka Kondo, kobayu858

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• feat(probabilistic_occupancy_grid_map): add time_keeper (#8601)
  • add time_keeper
  • add option for time keeper
  • correct namespace
  • set default to false
  • add scope and timekeeper
  • remove scope and add comment for scopes
  • mod comment

  * change comment Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> * fix variable shadowing ---------Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

• fix(autoware_probabilistic_occupancy_grid_map): fix unusedFunction (#8574) fix:unusedFunction
• fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (#8426) fix:functionConst
• fix(autoware_probabilistic_occupancy_grid_map): fix uninitMemberVar (#8333) fix:uninitMemberVar
• fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (#8289) fix:functionConst
• refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware_ prefix to package name (#8183)
  • chore: fix package name probabilistic occupancy grid map
  • fix: solve launch error
  • chore: update occupancy_grid_map_outlier_filter
  • style(pre-commit): autofix
  • refactor: update package name to autoware_probabilistic_occupancy_grid_map on a test

  * refactor: rename folder of occupancy_grid_map_outlier_filter ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

• Contributors: Masaki Baba, Yoshi Ri, Yutaka Kondo, kobayu858

0.26.0 (2024-04-03)