autoware_crop_box_filter
Overview
The autoware_crop_box_filter is a package that crops the input pointcloud to a specified bounding box. This is useful for reducing the computational load and improving the performance of the system.
Design
The autoware_crop_box_filter is implemented as a autoware core node that subscribes to the input pointcloud, and publishes the filtered pointcloud. The bounding box is specified using the min_point and max_point parameters.
| Name |
Type |
Description |
~/input/points |
sensor_msgs::msg::PointCloud2 |
reference points |
Output
| Name |
Type |
Description |
~/output/points |
sensor_msgs::msg::PointCloud2 |
filtered points |
~/crop_box_polygon |
geometry_msgs::msg::PolygonStamped |
bounding box polygon |
Parameters
Launch file Parameters
| Name |
Type |
Default Value |
Description |
input_frame |
string |
" " |
the frame id in which filtering is performed |
output_frame |
string |
" " |
output frame id of the filtered points |
input_pointcloud_frame |
string |
" " |
frame id of input pointcloud |
max_queue_size |
int |
5 |
max buffer size of input/output topics |
crop_box_filter_param_file |
string |
" " |
path to the parameter file for the node |
Node Parameters
| Name |
Type |
Default Value |
Description |
min_x |
double |
-5.0 |
minimum x value of the crop box |
min_y |
double |
-5.0 |
minimum y value of the crop box |
min_z |
double |
-5.0 |
minimum z value of the crop box |
max_x |
double |
5.0 |
maximum x value of the crop box |
max_y |
double |
5.0 |
maximum y value of the crop box |
max_z |
double |
5.0 |
maximum z value of the crop box |
negative |
bool |
true |
if true, points inside the box are removed, otherwise points outside the box are removed |
Usage
ros2 run tf2_ros static_transform_publisher 2.0 3.2 1.3 0 0 0 1 velodyne_top_base_link base_link
2.launch node
ros2 launch autoware_crop_box_filter crop_box_filter_node.launch.xml
3. launch rviz2 and AWSIM