object_velocity_splitter

This package contains a object filter module for autoware_perception_msgs/msg/DetectedObject. This package can split DetectedObjects into two messages by object's speed.

Interface

Input

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

Output

• ~/output/low_speed_objects (autoware_perception_msgs/msg/DetectedObjects.msg)
  • Objects with low speed
• ~/output/high_speed_objects (autoware_perception_msgs/msg/DetectedObjects.msg)
  • Objects with high speed

Parameters

• velocity_threshold (double) [m/s]
  • Default parameter is 3.0

This parameter is velocity threshold to split objects