autoware_downsample_filters

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_downsample_filters package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_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

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.3.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-24
Dev Status	DEVELOPED
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

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) References/External links

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_downsample_filters

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions
fix: to be consistent version in all package.xml(s)
feat(autoware_downsample_filters): re-implementation pointcloud downsample filters according to autoware_pointcloud_preprocessor in autoware_universe (#459) Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>
Contributors: NorahXiong, github-actions

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	autoware_point_types
	autoware_utils_debug
	autoware_utils_system
	autoware_utils_tf
	pcl_conversions
	rclcpp
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_localization

Launch files

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]
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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_downsample_filters` at Robotics Stack Exchange