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vector_map_filter#

Purpose#

The vector_map_filter is a node that removes points on the outside of lane by using vector map.

Inner-workings / Algorithms#

Inputs / Outputs#

Input#

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points
~/input/vector_map autoware_auto_mapping_msgs::msg::HADMapBin vector map

Output#

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters#

Core Parameters#

Name Type Default Value Description
voxel_size_x double 0.04 voxel size
voxel_size_y double 0.04 voxel size

Assumptions / Known limits#

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#