Using divided pointcloud map

Divided pointcloud map is necessary when handling large pointcloud map, in which case Autoware may not be capable of sending the whole map via ROS 2 topic or loading the whole map into memory. By using the pre-divided map, Autoware will dynamically load the pointcloud map according to the vehicle's position.

Tutorial

Download the sample-map-rosbag_split and locate the map under $HOME/autoware_map/.

gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=11tLC9T4MS8fnZ9Wo0D8-Ext7hEDl2YJ4'
unzip -d ~/autoware_map/ ~/autoware_map/sample-rosbag_split.zip

Then, you may launch logging_simulator with the following command to load the divided map. Note that you need to specify the map_path and pointcloud_map_file arguments.

source ~/autoware/install/setup.bash
ros2 launch autoware_launch logging_simulator.launch.xml \
  map_path:=$HOME/autoware_map/sample-map-rosbag pointcloud_map_file:=pointcloud_map \
  vehicle_model:=sample_vehicle_split sensor_model:=sample_sensor_kit

For playing rosbag to simulate Autoware, please refer to the instruction in the tutorial for rosbag replay simulation.

Related links

• For specific format definition of the divided map, please refer to Map component design page
• The Readme of map_loader may be useful specific instructions for dividing maps
• When dividing your own pointcloud map, you may use pointcloud_divider, which can divide the map as well as generating the compatible metadata