Map component design

1. Requirements

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Under Construction

2. Architecture

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Under Construction

3. Features

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Under Construction

4. Interface and Data Structure

Pointcloud map

The point cloud map must be supplied as a .pcd file, regardless of whether it is a single file or split into multiple files.

If it is split into a single file, Autoware assumes the following directory structure by default.

sample-map-rosbag
├── lanelet2_map.osm
├── pointcloud_map.pcd

If it is split into multiple files, Autoware assumes the following directory structure by default.

sample-map-rosbag
├── lanelet2_map.osm
├── pointcloud_map
├── pcd_00.pcd
├── pcd_01.pcd
├── pcd_02.pcd
├── ...
└── pointcloud_map_metadata.yaml

Note that, if you split the map into multiple files, you must meet the following additional conditions:

• It must be split by lines parallel to the x-y axis.
• Additional metadata must be provided as well.

Metadata should look like as follows:

x_resolution: 100.0
y_resolution: 150.0
A.pcd: [1200, 2500] # -> 1200 < x < 1300, 2500 < y < 2650
B.pcd: [1300, 2500] # -> 1300 < x < 1400, 2500 < y < 2650
C.pcd: [1200, 2650] # -> 1200 < x < 1300, 2650 < y < 2800
D.pcd: [1400, 2650] # -> 1400 < x < 1500, 2650 < y < 2800

You may use pointcloud_divider from MAP IV for dividing pointcloud map as well as generating the compatible metadata.yaml.

Vector map

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Under Construction