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autoware cluster merger#

Purpose#

autoware_cluster_merger is a package for merging pointcloud clusters as detected objects with feature type.

Inner-working / Algorithms#

The clusters of merged topics are simply concatenated from clusters of input topics.

Input / Output#

Input#

Name Type Description
input/cluster0 tier4_perception_msgs::msg::DetectedObjectsWithFeature pointcloud clusters
input/cluster1 tier4_perception_msgs::msg::DetectedObjectsWithFeature pointcloud clusters

Output#

Name Type Description
output/clusters tier4_perception_msgs::msg::DetectedObjectsWithFeature merged clusters

Parameters#

Name Type Description Default Range
output_frame_id string The header frame_id of output topic. base_link N/A

Assumptions / Known limits#

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#