autoware_perception_objects_converter

Purpose

This package provides nodes for converting between different perception object message types in Autoware.

Nodes

detected_to_predicted_objects_converter_node

This node converts DetectedObjects messages to PredictedObjects messages.

Input

Output

Parameters

None

Usage

ros2 launch autoware_perception_objects_converter detected_to_predicted_objects.launch.xml

Changelog for package autoware_perception_objects_converter

1.9.0 (2026-06-24)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• refactor(autoware_perception_objects_converter): extract pure convert() and reuse autoware_utils_uuid (#1133) Extract the DetectedObject->PredictedObject mapping into a pure, ROS-free convert() / convert_object() seam in an internal conversion.hpp so the field mapping (header, classification, shape, kinematics, has_twist branch) is unit testable without spinning a node. The subscription callback now just take-converts-and-publishes. Replace the bespoke generateUUIDMsg() (boost random_generator + std::copy, external-linkage free function) with autoware_utils_uuid::generate_uuid(), drop the three boost/uuid includes, swap the 'boost' dependency for 'autoware_utils_uuid' in package.xml, and make the UUID source injectable so tests can assert id assignment deterministically. Reserve the output objects vector and emplace converted objects to avoid per-object reallocations and the intermediate kinematics copy; publish via std::move(unique_ptr) for zero-copy intra-process delivery. Behavior preserving. Add a gtest covering header propagation, exact field mapping, both has_twist branches, distinct-UUID-per-object, and the production default generator (non-zero, distinct UUIDs). Refs: autowarefoundation/autoware_core#1096
• Contributors: Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

1.5.0 (2025-11-16)

• Merge remote-tracking branch 'origin/main' into humble

• feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)

  • replace ament_auto_package to autoware_ament_auto_package

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

• chore: bump version (1.4.0) and update changelog (#608)

• Contributors: Mete Fatih Cırıt, Yutaka Kondo, mitsudome-r

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)
• feat: add autoware_perception_objects_converter (#458) Co-authored-by: suchang <<chang.su@autocore.ai>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
• Contributors: github-actions, storrrrrrrrm
• fix: to be consistent version in all package.xml(s)
• feat: add autoware_perception_objects_converter (#458) Co-authored-by: suchang <<chang.su@autocore.ai>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
• Contributors: github-actions, storrrrrrrrm

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)