README.md

autoware_probabilistic_occupancy_grid_map

Purpose

This package outputs the probability of having an obstacle as occupancy grid map.

References/External links

• Pointcloud based occupancy grid map
• Laserscan based occupancy grid map
• Grid map fusion

Settings

Occupancy grid map is generated on map_frame, and grid orientation is fixed.

You may need to choose scan_origin_frame and gridmap_origin_frame which means sensor origin and gridmap origin respectively. Especially, set your main LiDAR sensor frame (e.g. velodyne_top in sample_vehicle) as a scan_origin_frame would result in better performance.

Parameters

• binary bayes filter updater

  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }}

• grid map

  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }}

• laserscan based occupancy grid map

  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }}

• multi lidar pointcloud based occupancy grid map

  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }}

• pointcloud based occupancy grid map

  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }}

• synchronized grid map fusion

  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }}

Downsample input pointcloud(Optional)

If you set downsample_input_pointcloud to true, the input pointcloud will be downsampled and following topics are also used. This feature is currently only for the pointcloud based occupancy grid map.

• pointcloud_based_occupancy_grid_map method

# downsampled raw and obstacle pointcloud
/perception/occupancy_grid_map/obstacle/downsample/pointcloud
/perception/occupancy_grid_map/raw/downsample/pointcloud

• multi_lidar_pointcloud_based_point_cloud

# downsampled raw and obstacle pointcloud
/perception/occupancy_grid_map/obstacle/downsample/pointcloud
/perception/occupancy_grid_map/<sensor_name>/raw/downsample/pointcloud

Test

This package provides unit tests using gtest. You can run the test by the following command.

colcon test --packages-select autoware_probabilistic_occupancy_grid_map --event-handlers console_direct+

Test contains the following.

• Unit test for cost value conversion function
• Unit test for utility functions
• Unit test for occupancy grid map fusion functions
• Input/Output test for pointcloud based occupancy grid map