Skip to content

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_map_msgs::msg::LaneletMapBin vector map

Output#

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

Parameters#

Core Parameters#

Name Type Description Default Range
voxel_size_x float voxel size along x-axis [m] 0.04 ≥0
voxel_size_y float voxel size along y-axis [m] 0.04 ≥0

Assumptions / Known limits#

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#