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_auto_mapping_msgs/msg/HADMapBin
message. The lan/lon coordinates are projected onto the MGRS coordinates.
- autoware_auto_mapping_msgs/msg/HADMapBin
- std_msgs/Header header
- string version_map_format
- string version_map
- string name_map
- uint8[] data
Lanelet2 map visualization#
Visualize autoware_auto_mapping_msgs/HADMapBin
messages in Rviz
.
- visualization_msgs/msg/MarkerArray