Skip to content

autoware_map_tf_generator#

Purpose#

The nodes in this package broadcast the viewer frame for visualization of the map in RViz.

Note that there is no module to need the viewer frame and this is used only for visualization.

The following are the supported methods to calculate the position of the viewer frame:

  • pcd_map_tf_generator_node outputs the geometric center of all points in the PCD.
  • vector_map_tf_generator_node outputs the geometric center of all points in the point layer.

Inner-workings / Algorithms#

Inputs / Outputs#

Input#

autoware_pcd_map_tf_generator#

Name Type Description
/map/pointcloud_map sensor_msgs::msg::PointCloud2 Subscribe pointcloud map to calculate position of viewer frames

autoware_vector_map_tf_generator#

Name Type Description
/map/vector_map autoware_map_msgs::msg::LaneletMapBin Subscribe vector map to calculate position of viewer frames

Output#

Name Type Description
/tf_static tf2_msgs/msg/TFMessage Broadcast viewer frames

Parameters#

Node Parameters#

None

Core Parameters#

Name Type Description Default Range
map_frame string The parent frame name of viewer frame map N/A
viewer_frame string Name of viewer frame viewer N/A

Assumptions / Known limits#

TBD.