autoware_ground_filter

Package Summary

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils 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

Version	1.4.0
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	2025-10-31
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_filter package

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

1.4.0 (2025-08-11)

chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix: deprecation of .h files in message_filters (#467)
- fix: deprecation of .h files in message_filters
* Update perception/autoware_ground_filter/include/autoware/ground_filter/node.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
chore: bump up version to 1.1.0 (#462) (#464)
fix(autoware_ground_filter): fix deprecated autoware_utils header (#417)
- fix autoware_utils header
- style(pre-commit): autofix
* fix autoware_utils packages ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
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, Masaki Baba, Tim Clephas, Yutaka Kondo, github-actions

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

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