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yabloc_common#

This package contains some executable nodes related to map. Also, This provides some yabloc common library.

ground_server#

Purpose#

It estimates the height and tilt of the ground from lanelet2.

Input / Outputs#

Input#

Name Type Description
input/vector_map autoware_map_msgs::msg::LaneletMapBin vector map
input/pose geometry_msgs::msg::PoseStamped estimated self pose

Output#

Name Type Description
output/ground std_msgs::msg::Float32MultiArray estimated ground parameters. it contains x, y, z, normal_x, normal_y, normal_z.
output/ground_markers visualization_msgs::msg::Marker visualization of estimated ground plane
output/ground_status std_msgs::msg::String status log of ground plane estimation
output/height std_msgs::msg::Float32 altitude
output/near_cloud sensor_msgs::msg::PointCloud2 point cloud extracted from lanelet2 and used for ground tilt estimation

Parameters#

Name Type Description Default Range
force_zero_tilt boolean if true, the tilt is always determined to be horizontal False N/A
K float the number of neighbors for ground search on a map 50 N/A
R float radius for ground search on a map [m] 10 N/A

ll2_decomposer#

Purpose#

This node extracts the elements related to the road surface markings and yabloc from lanelet2.

Input / Outputs#

Input#

Name Type Description
input/vector_map autoware_map_msgs::msg::LaneletMapBin vector map

Output#

Name Type Description
output/ll2_bounding_box sensor_msgs::msg::PointCloud2 bounding boxes extracted from lanelet2
output/ll2_road_marking sensor_msgs::msg::PointCloud2 road surface markings extracted from lanelet2
output/ll2_sign_board sensor_msgs::msg::PointCloud2 traffic sign boards extracted from lanelet2
output/sign_board_marker visualization_msgs::msg::MarkerArray visualized traffic sign boards

Parameters#

Name Type Description Default Range
road_marking_labels array line string types that indicating road surface markings in lanelet2 ['cross_walk', 'zebra_marking', 'line_thin', 'line_thick', 'pedestrian_marking', 'stop_line', 'road_border'] N/A
sign_board_labels array line string types that indicating traffic sign boards in lanelet2 ['sign-board'] N/A
bounding_box_labels array line string types that indicating not mapped areas in lanelet2 ['none'] N/A