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