feat(crop_box_filter): simplify validation logic for input point cloud (#875)

interimadd · Takahisa.Ishikawa · web-flow · commit d09138181046 · 2026-03-02T11:35:13.000Z
* feat(crop_box_filter): simplify point cloud validation logic and remove redundant functions

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* feat(crop_box_filter): remove dependency on rclcpp::Logger from validation logic

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* refactor(crop_box_filter): rename validation function

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* refactor(crop_box_filter): simplify point cloud validation tests and improve clarity

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* refactor(crop_box_filter): simplify point cloud validation logic by removing redundant lambda function

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* refactor(crop_box_filter): separate validation logic into its own files

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* refactor(crop_box_filter): remove rclcpp dependency and simplify timestamp handling in validation logic

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* chore(crop_box_filter): update copyright information to reflect current ownership

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* refactor(crop_box_filter): restructure validation logic by separating xyz field and data size checks

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* refactor(test): remove rclcpp dependency from test file

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* refactor(crop_box_filter): update validation functions to accept PointCloud2

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* refactor(crop_box_filter): improve error message comment

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* refactor(crop_box_filter): simplify PointCloud2 test cases by removing shared_ptr usage

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* feat(crop_box_filter): update data size validation logic to use greater than comparison

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* refactor(crop_box_filter): streamline validation logic for x, y, z fields in PointCloud2

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

* refactor(crop_box_filter): remove unused memory header from crop_box_filter.cpp

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;

---------

Signed-off-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;
Co-authored-by: Takahisa.Ishikawa &lt;takahisa.ishikawa@tier4.jp&gt;
diff --git a/sensing/autoware_crop_box_filter/CMakeLists.txt b/sensing/autoware_crop_box_filter/CMakeLists.txt
@@ -12,6 +12,7 @@ include_directories(
 )
 
 ament_auto_add_library(crop_box_filter_node SHARED
+  src/crop_box_filter.cpp
   src/crop_box_filter_node.cpp
 )
 
@@ -21,6 +22,11 @@ rclcpp_components_register_node(crop_box_filter_node
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
+  ament_auto_add_gtest(test_crop_box_filter
+    test/test_crop_box_filter.cpp
+  )
+  target_include_directories(test_crop_box_filter PRIVATE src)
+
   ament_auto_add_gtest(test_crop_box_filter_node
     test/test_crop_box_filter_node.cpp
   )
diff --git a/sensing/autoware_crop_box_filter/src/crop_box_filter.cpp b/sensing/autoware_crop_box_filter/src/crop_box_filter.cpp
@@ -0,0 +1,78 @@
+// Copyright 2026 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "crop_box_filter.hpp"
+
+#include <sensor_msgs/msg/point_field.hpp>
+
+#include <sstream>
+
+namespace autoware::crop_box_filter
+{
+
+static ValidationResult validate_xyz_fields(const PointCloud2 & cloud)
+{
+  bool has_x = false;
+  bool has_y = false;
+  bool has_z = false;
+
+  for (const auto & field : cloud.fields) {
+    if (field.datatype != sensor_msgs::msg::PointField::FLOAT32) {
+      continue;
+    }
+
+    if (field.name == "x") {
+      has_x = true;
+    } else if (field.name == "y") {
+      has_y = true;
+    } else if (field.name == "z") {
+      has_z = true;
+    }
+
+    if (has_x && has_y && has_z) break;
+  }
+
+  if (!has_x || !has_y || !has_z) {
+    return {false, "The pointcloud does not have the required x, y, z FLOAT32 fields."};
+  }
+  return {true, ""};
+}
+
+static ValidationResult validate_data_size(const PointCloud2 & cloud)
+{
+  if (cloud.width * cloud.height * cloud.point_step > cloud.data.size()) {
+    std::ostringstream oss;
+    oss << "Invalid PointCloud (data.size = " << cloud.data.size() << ", width = " << cloud.width
+        << ", height = " << cloud.height << ", step = " << cloud.point_step << ") with stamp "
+        << cloud.header.stamp.sec + cloud.header.stamp.nanosec * 1e-9 << ", and frame "
+        << cloud.header.frame_id << " received!";
+    return {false, oss.str()};
+  }
+  return {true, ""};
+}
+
+ValidationResult validate_pointcloud2(const PointCloud2 & cloud)
+{
+  const ValidationResult xyz_validation_result = validate_xyz_fields(cloud);
+  if (!xyz_validation_result.is_valid) {
+    return xyz_validation_result;
+  }
+  const ValidationResult data_size_validation_result = validate_data_size(cloud);
+  if (!data_size_validation_result.is_valid) {
+    return data_size_validation_result;
+  }
+  return {true, ""};
+}
+
+}  // namespace autoware::crop_box_filter
diff --git a/sensing/autoware_crop_box_filter/src/crop_box_filter.hpp b/sensing/autoware_crop_box_filter/src/crop_box_filter.hpp
@@ -0,0 +1,38 @@
+// Copyright 2026 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef CROP_BOX_FILTER_HPP_
+#define CROP_BOX_FILTER_HPP_
+
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
+#include <string>
+
+using PointCloud2 = sensor_msgs::msg::PointCloud2;
+using PointCloud2ConstPtr = sensor_msgs::msg::PointCloud2::ConstSharedPtr;
+
+namespace autoware::crop_box_filter
+{
+
+struct ValidationResult
+{
+  bool is_valid;
+  std::string reason;
+};
+
+ValidationResult validate_pointcloud2(const PointCloud2 & cloud);
+
+}  // namespace autoware::crop_box_filter
+
+#endif  // CROP_BOX_FILTER_HPP_
diff --git a/sensing/autoware_crop_box_filter/src/crop_box_filter_node.cpp b/sensing/autoware_crop_box_filter/src/crop_box_filter_node.cpp
@@ -230,8 +230,9 @@ void CropBoxFilter::filter_pointcloud(const PointCloud2ConstPtr & cloud, PointCl
 void CropBoxFilter::pointcloud_callback(const PointCloud2ConstPtr cloud)
 {
   // check whether the pointcloud is valid
-  if (!is_valid(cloud)) {
-    RCLCPP_ERROR(this->get_logger(), "[input_pointcloud_callback] Invalid input pointcloud!");
+  const ValidationResult result = validate_pointcloud2(*cloud);
+  if (!result.is_valid) {
+    RCLCPP_ERROR(this->get_logger(), "[input_pointcloud_callback] %s", result.reason.c_str());
     return;
   }
 
@@ -356,236 +357,6 @@ rcl_interfaces::msg::SetParametersResult CropBoxFilter::param_callback(
   return result;
 }
 
-bool CropBoxFilter::is_data_layout_compatible_with_point_xyzi(const PointCloud2 & input)
-{
-  using PointIndex = autoware::point_types::PointXYZIIndex;
-  using autoware::point_types::PointXYZI;
-  if (input.fields.size() < 4) {
-    return false;
-  }
-  bool same_layout = true;
-  const auto & field_x = input.fields.at(static_cast<size_t>(PointIndex::X));
-  same_layout &= field_x.name == "x";
-  same_layout &= field_x.offset == offsetof(PointXYZI, x);
-  same_layout &= field_x.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_x.count == 1;
-  const auto & field_y = input.fields.at(static_cast<size_t>(PointIndex::Y));
-  same_layout &= field_y.name == "y";
-  same_layout &= field_y.offset == offsetof(PointXYZI, y);
-  same_layout &= field_y.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_y.count == 1;
-  const auto & field_z = input.fields.at(static_cast<size_t>(PointIndex::Z));
-  same_layout &= field_z.name == "z";
-  same_layout &= field_z.offset == offsetof(PointXYZI, z);
-  same_layout &= field_z.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_z.count == 1;
-  const auto & field_intensity = input.fields.at(static_cast<size_t>(PointIndex::Intensity));
-  same_layout &= field_intensity.name == "intensity";
-  same_layout &= field_intensity.offset == offsetof(PointXYZI, intensity);
-  same_layout &= field_intensity.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_intensity.count == 1;
-  return same_layout;
-}
-
-bool CropBoxFilter::is_data_layout_compatible_with_point_xyzirc(const PointCloud2 & input)
-{
-  using PointIndex = autoware::point_types::PointXYZIRCIndex;
-  using autoware::point_types::PointXYZIRC;
-  if (input.fields.size() < 6) {
-    return false;
-  }
-  bool same_layout = true;
-  const auto & field_x = input.fields.at(static_cast<size_t>(PointIndex::X));
-  same_layout &= field_x.name == "x";
-  same_layout &= field_x.offset == offsetof(PointXYZIRC, x);
-  same_layout &= field_x.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_x.count == 1;
-  const auto & field_y = input.fields.at(static_cast<size_t>(PointIndex::Y));
-  same_layout &= field_y.name == "y";
-  same_layout &= field_y.offset == offsetof(PointXYZIRC, y);
-  same_layout &= field_y.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_y.count == 1;
-  const auto & field_z = input.fields.at(static_cast<size_t>(PointIndex::Z));
-  same_layout &= field_z.name == "z";
-  same_layout &= field_z.offset == offsetof(PointXYZIRC, z);
-  same_layout &= field_z.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_z.count == 1;
-  const auto & field_intensity = input.fields.at(static_cast<size_t>(PointIndex::Intensity));
-  same_layout &= field_intensity.name == "intensity";
-  same_layout &= field_intensity.offset == offsetof(PointXYZIRC, intensity);
-  same_layout &= field_intensity.datatype == sensor_msgs::msg::PointField::UINT8;
-  same_layout &= field_intensity.count == 1;
-  const auto & field_return_type = input.fields.at(static_cast<size_t>(PointIndex::ReturnType));
-  same_layout &= field_return_type.name == "return_type";
-  same_layout &= field_return_type.offset == offsetof(PointXYZIRC, return_type);
-  same_layout &= field_return_type.datatype == sensor_msgs::msg::PointField::UINT8;
-  same_layout &= field_return_type.count == 1;
-  const auto & field_ring = input.fields.at(static_cast<size_t>(PointIndex::Channel));
-  same_layout &= field_ring.name == "channel";
-  same_layout &= field_ring.offset == offsetof(PointXYZIRC, channel);
-  same_layout &= field_ring.datatype == sensor_msgs::msg::PointField::UINT16;
-  same_layout &= field_ring.count == 1;
-
-  return same_layout;
-}
-
-bool CropBoxFilter::is_data_layout_compatible_with_point_xyziradrt(const PointCloud2 & input)
-{
-  using PointIndex = autoware::point_types::PointXYZIRADRTIndex;
-  using autoware::point_types::PointXYZIRADRT;
-  if (input.fields.size() < 9) {
-    return false;
-  }
-  bool same_layout = true;
-  const auto & field_x = input.fields.at(static_cast<size_t>(PointIndex::X));
-  same_layout &= field_x.name == "x";
-  same_layout &= field_x.offset == offsetof(PointXYZIRADRT, x);
-  same_layout &= field_x.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_x.count == 1;
-  const auto & field_y = input.fields.at(static_cast<size_t>(PointIndex::Y));
-  same_layout &= field_y.name == "y";
-  same_layout &= field_y.offset == offsetof(PointXYZIRADRT, y);
-  same_layout &= field_y.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_y.count == 1;
-  const auto & field_z = input.fields.at(static_cast<size_t>(PointIndex::Z));
-  same_layout &= field_z.name == "z";
-  same_layout &= field_z.offset == offsetof(PointXYZIRADRT, z);
-  same_layout &= field_z.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_z.count == 1;
-  const auto & field_intensity = input.fields.at(static_cast<size_t>(PointIndex::Intensity));
-  same_layout &= field_intensity.name == "intensity";
-  same_layout &= field_intensity.offset == offsetof(PointXYZIRADRT, intensity);
-  same_layout &= field_intensity.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_intensity.count == 1;
-  const auto & field_ring = input.fields.at(static_cast<size_t>(PointIndex::Ring));
-  same_layout &= field_ring.name == "ring";
-  same_layout &= field_ring.offset == offsetof(PointXYZIRADRT, ring);
-  same_layout &= field_ring.datatype == sensor_msgs::msg::PointField::UINT16;
-  same_layout &= field_ring.count == 1;
-  const auto & field_azimuth = input.fields.at(static_cast<size_t>(PointIndex::Azimuth));
-  same_layout &= field_azimuth.name == "azimuth";
-  same_layout &= field_azimuth.offset == offsetof(PointXYZIRADRT, azimuth);
-  same_layout &= field_azimuth.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_azimuth.count == 1;
-  const auto & field_distance = input.fields.at(static_cast<size_t>(PointIndex::Distance));
-  same_layout &= field_distance.name == "distance";
-  same_layout &= field_distance.offset == offsetof(PointXYZIRADRT, distance);
-  same_layout &= field_distance.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_distance.count == 1;
-  const auto & field_return_type = input.fields.at(static_cast<size_t>(PointIndex::ReturnType));
-  same_layout &= field_return_type.name == "return_type";
-  same_layout &= field_return_type.offset == offsetof(PointXYZIRADRT, return_type);
-  same_layout &= field_return_type.datatype == sensor_msgs::msg::PointField::UINT8;
-  same_layout &= field_return_type.count == 1;
-  const auto & field_time_stamp = input.fields.at(static_cast<size_t>(PointIndex::TimeStamp));
-  same_layout &= field_time_stamp.name == "time_stamp";
-  same_layout &= field_time_stamp.offset == offsetof(PointXYZIRADRT, time_stamp);
-  same_layout &= field_time_stamp.datatype == sensor_msgs::msg::PointField::FLOAT64;
-  same_layout &= field_time_stamp.count == 1;
-  return same_layout;
-}
-
-bool CropBoxFilter::is_data_layout_compatible_with_point_xyzircaedt(const PointCloud2 & input)
-{
-  using PointIndex = autoware::point_types::PointXYZIRCAEDTIndex;
-  using autoware::point_types::PointXYZIRCAEDT;
-  if (input.fields.size() != 10) {
-    return false;
-  }
-  bool same_layout = true;
-  const auto & field_x = input.fields.at(static_cast<size_t>(PointIndex::X));
-  same_layout &= field_x.name == "x";
-  same_layout &= field_x.offset == offsetof(PointXYZIRCAEDT, x);
-  same_layout &= field_x.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_x.count == 1;
-  const auto & field_y = input.fields.at(static_cast<size_t>(PointIndex::Y));
-  same_layout &= field_y.name == "y";
-  same_layout &= field_y.offset == offsetof(PointXYZIRCAEDT, y);
-  same_layout &= field_y.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_y.count == 1;
-  const auto & field_z = input.fields.at(static_cast<size_t>(PointIndex::Z));
-  same_layout &= field_z.name == "z";
-  same_layout &= field_z.offset == offsetof(PointXYZIRCAEDT, z);
-  same_layout &= field_z.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_z.count == 1;
-  const auto & field_intensity = input.fields.at(static_cast<size_t>(PointIndex::Intensity));
-  same_layout &= field_intensity.name == "intensity";
-  same_layout &= field_intensity.offset == offsetof(PointXYZIRCAEDT, intensity);
-  same_layout &= field_intensity.datatype == sensor_msgs::msg::PointField::UINT8;
-  same_layout &= field_intensity.count == 1;
-  const auto & field_return_type = input.fields.at(static_cast<size_t>(PointIndex::ReturnType));
-  same_layout &= field_return_type.name == "return_type";
-  same_layout &= field_return_type.offset == offsetof(PointXYZIRCAEDT, return_type);
-  same_layout &= field_return_type.datatype == sensor_msgs::msg::PointField::UINT8;
-  same_layout &= field_return_type.count == 1;
-  const auto & field_ring = input.fields.at(static_cast<size_t>(PointIndex::Channel));
-  same_layout &= field_ring.name == "channel";
-  same_layout &= field_ring.offset == offsetof(PointXYZIRCAEDT, channel);
-  same_layout &= field_ring.datatype == sensor_msgs::msg::PointField::UINT16;
-  same_layout &= field_ring.count == 1;
-  const auto & field_azimuth = input.fields.at(static_cast<size_t>(PointIndex::Azimuth));
-  same_layout &= field_azimuth.name == "azimuth";
-  same_layout &= field_azimuth.offset == offsetof(PointXYZIRCAEDT, azimuth);
-  same_layout &= field_azimuth.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_azimuth.count == 1;
-  const auto & field_elevation = input.fields.at(static_cast<size_t>(PointIndex::Elevation));
-  same_layout &= field_elevation.name == "elevation";
-  same_layout &= field_elevation.offset == offsetof(PointXYZIRCAEDT, elevation);
-  same_layout &= field_elevation.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_elevation.count == 1;
-  const auto & field_distance = input.fields.at(static_cast<size_t>(PointIndex::Distance));
-  same_layout &= field_distance.name == "distance";
-  same_layout &= field_distance.offset == offsetof(PointXYZIRCAEDT, distance);
-  same_layout &= field_distance.datatype == sensor_msgs::msg::PointField::FLOAT32;
-  same_layout &= field_distance.count == 1;
-  const auto & field_time_stamp = input.fields.at(static_cast<size_t>(PointIndex::TimeStamp));
-  same_layout &= field_time_stamp.name == "time_stamp";
-  same_layout &= field_time_stamp.offset == offsetof(PointXYZIRCAEDT, time_stamp);
-  same_layout &= field_time_stamp.datatype == sensor_msgs::msg::PointField::UINT32;
-  same_layout &= field_time_stamp.count == 1;
-  return same_layout;
-}
-
-bool CropBoxFilter::is_valid(const PointCloud2ConstPtr & cloud)
-{
-  // firstly check the fields of the point cloud
-  if (
-    !is_data_layout_compatible_with_point_xyzircaedt(*cloud) &&
-    !is_data_layout_compatible_with_point_xyzirc(*cloud)) {
-    RCLCPP_ERROR(
-      get_logger(),
-      "The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting");
-
-    if (is_data_layout_compatible_with_point_xyziradrt(*cloud)) {
-      RCLCPP_ERROR(
-        get_logger(),
-        "The pointcloud layout is compatible with PointXYZIRADRT. You may be using legacy "
-        "code/data");
-    }
-
-    if (is_data_layout_compatible_with_point_xyzi(*cloud)) {
-      RCLCPP_ERROR(
-        get_logger(),
-        "The pointcloud layout is compatible with PointXYZI. You may be using legacy "
-        "code/data");
-    }
-
-    return false;
-  }
-
-  // secondly, verify the total size of the point cloud
-  if (cloud->width * cloud->height * cloud->point_step != cloud->data.size()) {
-    RCLCPP_WARN(
-      this->get_logger(),
-      "Invalid PointCloud (data = %zu, width = %d, height = %d, step = %d) with stamp %f, "
-      "and frame %s received!",
-      cloud->data.size(), cloud->width, cloud->height, cloud->point_step,
-      rclcpp::Time(cloud->header.stamp).seconds(), cloud->header.frame_id.c_str());
-    return false;
-  }
-  return true;
-}
-
 }  // namespace autoware::crop_box_filter
 
 #include <rclcpp_components/register_node_macro.hpp>
diff --git a/sensing/autoware_crop_box_filter/src/crop_box_filter_node.hpp b/sensing/autoware_crop_box_filter/src/crop_box_filter_node.hpp
diff --git a/sensing/autoware_crop_box_filter/test/test_crop_box_filter.cpp b/sensing/autoware_crop_box_filter/test/test_crop_box_filter.cpp

Original file line number	Diff line number	Diff line change
`@@ -12,6 +12,7 @@ include_directories(`
`12`	`12`	`)`
`13`	`13`
`14`	`14`	`ament_auto_add_library(crop_box_filter_node SHARED`
	`15`	`+ src/crop_box_filter.cpp`
`15`	`16`	`src/crop_box_filter_node.cpp`
`16`	`17`	`)`
`17`	`18`
`@@ -21,6 +22,11 @@ rclcpp_components_register_node(crop_box_filter_node`
`21`	`22`
`22`	`23`	`if(BUILD_TESTING)`
`23`	`24`	`find_package(ament_cmake_gtest REQUIRED)`
	`25`	`+ ament_auto_add_gtest(test_crop_box_filter`
	`26`	`+ test/test_crop_box_filter.cpp`
	`27`	`+ )`
	`28`	`+ target_include_directories(test_crop_box_filter PRIVATE src)`
	`29`	`+`
`24`	`30`	`ament_auto_add_gtest(test_crop_box_filter_node`
`25`	`31`	`test/test_crop_box_filter_node.cpp`
`26`	`32`	`)`