autoware_ground_filter

Purpose

The autoware_ground_filter is a node that remove the ground points from the input pointcloud.

Inner-workings / Algorithms

Detail description of each ground segmentation algorithm is in the following links.

Inputs / Outputs

The interfaces below are generated from the node design file design/GroundFilter.node.yaml.

{{ node_interfaces_to_markdown(“perception/autoware_ground_filter/design/GroundFilter.node.yaml”) }}

Parameters

Node Parameters

The node launch parameters below are generated from the node design file design/GroundFilter.node.yaml.

{{ node_param_values_to_markdown(“perception/autoware_ground_filter/design/GroundFilter.node.yaml”) }}

Parameter files

{{ node_param_files_to_markdown(“perception/autoware_ground_filter/design/GroundFilter.node.yaml”) }}

The ground segmentation parameters are described in ground-filter.md.

Assumptions / Known limits

Implemented based on pcl_perception [1] because of this issue.

References/External links

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

Changelog for package autoware_ground_filter

1.1.0 (2025-05-01)

• feat(autoware_utils): remove managed transform buffer (#360)

  • feat(autoware_utils): remove managed transform buffer

  * fix(autoware_ground_filter): redundant inclusion ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• Contributors: Amadeusz Szymko

1.10.0 (2026-09-28)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• docs(mkdocs_macros): render README interfaces and parameters from node design files (#1399)

  • feat(mkdocs_macros): render node design files and resolve schema $ref
  • build(pre-commit): bump autoware_system_designer to v0.4.2 for design format 0.4.0

  * docs(autoware_ground_filter): generate README interfaces and parameters from the node design file ---------

• fix(perception): declare the dependencies these packages use (#1371) Each of these packages uses a package it never declares. Either it includes a header of that package, or it names a symbol of it while the header arrives through another dependency. Both build today only because some declared dependency re-exports the owner, so a change in an unrelated repository can break them without anything here changing. The tag follows where the dependency is used: a use in an installed header or in code compiled into the library takes <depend>, one reached only from test/ takes <test_depend>. System libraries are named by the rosdep key this workspace already prefers.

• feat: [codecov/refactoring] [ground_filter] Step 3 - Unit test revamp (#1216)

  • designated unit test suite in step 3 to be a friend class to allow access to private maths and ensure strict encapsulation
  • also expose the same for new Radial related unit tests
  • lock legacy 11 test cases for grid mode, and add new calss for radial mode unit testing
  • add test 1 of radial mode unit test
  • add test 2 of radial mode unit test
  • add test 3 of radial mode unit test
  • add test 4 of radial mode unit test
  • add test 5 of radial mode unit test
  • addressed the floating point rounding error in test 3, all good now
  • refactor([downsample_filters]{.title-ref}): simplify core logic (#1219)
  • bug: remove unused [transform_info]{.title-ref}

  * cosmetic: improve comments for readability ---------

  • moved setDataAccessor and process helper funcs back to private
  • removed the friend exposers of test classes
  • removed the friend class references in test_ground_filter
  • removed test 1 and 2 since they are basic math checkings, also revamped test 4 to be more sense
  • revamped test 5 to use the newly revamped group filter architecture:
  • also removed test 3 cuz it is too much of testing basic maths and won't really stand in the future when someone changes algo
  • added new test to verify a case when points in different azimuths towering above ground
  • within the 11 original tests, for every test involving legacy combo of setDataAcessor and process, replace it with comprehensive filter func

  * fixed the indexing issue in test ClassifyLocalAndGlobalSlopes, now all good wonderful yayyyy ---------Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• Tran ground filter step2 core logic isolation (#1214)

  • added TEST 2 as a consolidate of 5/25 previous test_node (btw just realized precommit wont accept your commits until you fix em, damn
  • added 3rd test under indices publishing
  • added 4rd test under approximate sync functionality
  • strengthen TEST 2 with an incomparable point cloud
  • added TEST 5 to verify elevation_grid_mode is good and cool
  • rename node to ground_filter_node
  • also update node include to ground filter node include
  • updated GroundFilterParameter struct to envision the new core logic isolation

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