tier4_map_launch

Structure

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use map.launch.py.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of map.launch.xml.

<arg name="map_path" description="point cloud and lanelet2 map directory path"/>
<arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>

<include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
  <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)" />
  <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>

  <!-- Parameter files -->
  <arg name="FOO_param_path" value="..."/>
  <arg name="BAR_param_path" value="..."/>
  ...
</include>

Notes

For reducing processing load, we use the Component feature in ROS 2 (similar to Nodelet in ROS 1 )