Map

Overview

Autoware relies on high-definition point cloud maps and vector maps of the driving environment to perform various tasks. Before launching Autoware, you need to load the pre-created map files.

Inputs

• Point cloud maps (.pcd)
• Lanelet2 maps (.osm)

Refer to Creating maps on how to create maps.

Outputs

Point cloud map

It loads point cloud files and publishes the maps to the other Autoware nodes in various configurations. Currently, it supports the following types:

• Raw point cloud map (sensor_msgs/msg/PointCloud2)
• Downsampled point cloud map (sensor_msgs/msg/PointCloud2)
• Partial point cloud map loading via ROS service (autoware_map_msgs/srv/GetPartialPointCloudMap)
• Differential point cloud map loading via ROS service (autoware_map_msgs/srv/GetDifferentialPointCloudMap)

Lanelet2 map

It loads a Lanelet2 file and publishes the map data as autoware_map_msgs/msg/LaneletMapBin message. The lan/lon coordinates are projected onto the MGRS coordinates.

• Single Lanelet2 map (autoware_map_msgs/msg/LaneletMapBin)
  • std_msgs/Header header
  • string version_map_format
  • string version_map
  • string name_map
  • uint8[] data
• Multiple Lanelet2 maps loading via ROS service (autoware_map_msgs/srv/GetSelectedLanelet2Map)
  • Request:
    • string[] cell_ids
  • Response:
    • std_msgs/Header header
    • autoware_map_msgs/LaneletMapBin lanelet2_cells

Warning

The Multiple Lanelet2 maps loading via ROS service is still under development and may not be available in the current release.

Lanelet2 map visualization

Visualize autoware_map_msgs/msg/LaneletMapBin messages in Rviz.

• visualization_msgs/msg/MarkerArray