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object_velocity_splitter#

This package contains a object filter module for autoware_auto_perception_msgs/msg/DetectedObject. This package can split DetectedObjects into two messages by object's speed.

Interface#

Input#

  • ~/input/objects (autoware_auto_perception_msgs/msg/DetectedObjects.msg)
    • 3D detected objects

Output#

  • ~/output/low_speed_objects (autoware_auto_perception_msgs/msg/DetectedObjects.msg)
    • Objects with low speed
  • ~/output/high_speed_objects (autoware_auto_perception_msgs/msg/DetectedObjects.msg)
    • Objects with high speed

Parameters#

  • velocity_threshold (double) [m/s]
    • Default parameter is 3.0

This parameter is velocity threshold to split objects