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autoware_map_height_fitter#

This library fits the given point with the ground of the point cloud map. The map loading operation is switched by the parameter enable_partial_load of the node specified by map_loader_name. The node using this library must use multi thread executor.

Parameters#

Name Type Description Default Range
map_loader_name string Node name of the map loader from which this map_height_fitter will retrieve its parameters /map/pointcloud_map_loader N/A
target string Target map to fit (choose from 'pointcloud_map', 'vector_map') pointcloud_map N/A

Topic subscription#

Topic Name Description
~/pointcloud_map The topic containing the whole pointcloud map (only used when enable_partial_load = false)

Service client#

Service Name Description
~/partial_map_load The service to load the partial map