autoware_ground_filter

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange

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

autoware_ground_filter package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	1.1.0
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	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The ROS 2 autoware_ground_filter package

Additional Links

No additional links.

Maintainers

amc-nu
Yukihiro Saito
Dai Nguyen
Yoshi Ri
Junya Sasaki

Authors

Open Perception
Julius Kammerl
William Woodall

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

autoware_ground_filter

Purpose

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

Inner-workings / Algorithms

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

Filter Name	Description	Detail
ground_filter	A method of removing the ground based on the geometrical relationship between points lined up on radiation	link

Inputs / Outputs

Input

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

Output

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

Parameters

Node Parameters

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

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

CHANGELOG

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

feat(autoware_utils): remove managed transform buffer (#360)
- feat(autoware_utils): remove managed transform buffer
* fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Amadeusz Szymko

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311)

* add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
Contributors: Junya Sasaki, Ryohsuke Mitsudome

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_point_types
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_math
	autoware_utils_system
	autoware_utils_tf
	autoware_vehicle_info_utils
	message_filters
	pcl_conversions
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs
	std_msgs
	tf2
	tf2_eigen
	tf2_ros
	tf2_sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_perception

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_ground_filter` at Robotics Stack Exchange