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Map Launch Files#


The Autoware map stacks start launching at autoware_launch.xml as we mentioned at Launch Autoware page. The autoware_launch package includes tier4_map_component.launch.xml for starting map launch files invocation from autoware_launch.xml. This diagram describes some of the Autoware map launch files flow at autoware_launch and autoware.universe packages.


Autoware map launch flow diagram


The Autoware project is a large project. Therefore, as we manage the Autoware project, we utilize specific arguments in the launch files. ROS 2 offers an argument-overriding feature for these launch files. Please refer to the official ROS 2 launch documentation for further information. For instance, if we define an argument at the top-level launch, it will override the value on lower-level launches.

The launch file from the tier4_map_launch package directly includes the necessary node definitions for mapping. In the current design of Autoware, the lanelet2_map_loader, lanelet2_map_visualization, pointcloud_map_loader, and vector_map_tf_generator composable nodes are included in the map_container.

We don't have many modification options in the map launching files (as the parameters are included in the config files). However, you can specify the names for your pointcloud and lanelet2 map during the launch (the default values are pointcloud_map.pcd and lanelet2_map.osm). For instance, if you wish to change your map file names, you can run Autoware using the following command line arguments:

ros2 launch autoware_launch autoware.launch.xml ... pointcloud_map_file:=<YOUR-PCD-FILE-NAME> lanelet2_map_file:=<YOUR-LANELET2-MAP-NAME> ...

Or you can change it on your autoware.launch.xml launch file:

- <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
+ <arg name="lanelet2_map_file" default="<YOUR-LANELET2-MAP-NAME>" description="lanelet2 map file name"/>
- <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+ <arg name="pointcloud_map_file" default="<YOUR-PCD-FILE-NAME>" description="pointcloud map file name"/>