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autoware_ground_segmentation#

Purpose#

The autoware_ground_segmentation 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
ray_ground_filter A method of removing the ground based on the geometrical relationship between points lined up on radiation link
scan_ground_filter Almost the same method as ray_ground_filter, but with slightly improved performance link
ransac_ground_filter A method of removing the ground by approximating the ground to a plane 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
has_static_tf_only bool false flag to listen TF only once
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#

autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

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