autoware_object_sorter

This package contains a object filter module for autoware_perception_msgs/msg/DetectedObject and autoware_perception_msgs/msg/TrackedObject.

This package can filter the objects based on range and velocity.

Interface

Input

• ~/input/objects (autoware_perception_msgs/msg/DetectedObjects.msg or autoware_perception_msgs/msg/TrackedObjects.msg)
  • 3D detected objects

Output

• ~/output/objects (autoware_perception_msgs/msg/DetectedObjects.msg or autoware_perception_msgs/msg/TrackedObjects.msg)

Parameters

Name	Type	Description	Default	Range
velocity_threshold	float	Velocity threshold (in m/s) used to split objects.	3	N/A
range_threshold	float	Range threshold (in m) used to split objects.	30	N/A