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.
| Name |
Type |
Description |
input/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin |
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.
| Name |
Type |
Description |
input/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin |
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 |