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map_loader package#

This package provides the features of loading various maps.

pointcloud_map_loader#

Feature#

pointcloud_map_loader provides pointcloud maps to the other Autoware nodes in various configurations. Currently, it supports the following two types:

  • Publish raw pointcloud map
  • Publish downsampled pointcloud map
  • Send partial pointcloud map loading via ROS 2 service
  • Send differential pointcloud map loading via ROS 2 service

Publish raw pointcloud map (ROS 2 topic)#

The node publishes the raw pointcloud map loaded from the .pcd file(s).

Publish downsampled pointcloud map (ROS 2 topic)#

The node publishes the downsampled pointcloud map loaded from the .pcd file(s). You can specify the downsample resolution by changing the leaf_size parameter.

Send partial pointcloud map (ROS 2 service)#

Here, we assume that the pointcloud maps are divided into grids.

Given a query from a client node, the node sends a set of pointcloud maps that overlaps with the queried area. Please see the description of GetPartialPointCloudMap.srv for details.

Send differential pointcloud map (ROS 2 service)#

Here, we assume that the pointcloud maps are divided into grids.

Given a query and set of map IDs, the node sends a set of pointcloud maps that overlap with the queried area and are not included in the set of map IDs. Please see the description of GetDifferentialPointCloudMap.srv for details.

Parameters#

Name Type Description Default value
enable_whole_load bool A flag to enable raw pointcloud map publishing true
enable_downsampled_whole_load bool A flag to enable downsampled pointcloud map publishing false
enable_partial_load bool A flag to enable partial pointcloud map server false
enable_differential_load bool A flag to enable differential pointcloud map server false
leaf_size float Downsampling leaf size (only used when enable_downsampled_whole_load is set true) 3.0

Interfaces#

  • output/pointcloud_map (sensor_msgs/msg/PointCloud2) : Raw pointcloud map
  • output/debug/downsampled_pointcloud_map (sensor_msgs/msg/PointCloud2) : Downsampled pointcloud map
  • service/get_partial_pcd_map (autoware_map_msgs/srv/GetPartialPointCloudMap) : Partial pointcloud map
  • service/get_differential_pcd_map (autoware_map_msgs/srv/GetDifferentialPointCloudMap) : Differential pointcloud map

lanelet2_map_loader#

Feature#

lanelet2_map_loader loads Lanelet2 file and publishes the map data as autoware_auto_mapping_msgs/HADMapBin message. The node projects lan/lon coordinates into MGRS coordinates.

How to run#

ros2 run map_loader lanelet2_map_loader --ros-args -p lanelet2_map_path:=path/to/map.osm

Published Topics#

  • ~output/lanelet2_map (autoware_auto_mapping_msgs/HADMapBin) : Binary data of loaded Lanelet2 Map

lanelet2_map_visualization#

Feature#

lanelet2_map_visualization visualizes autoware_auto_mapping_msgs/HADMapBin messages into visualization_msgs/MarkerArray.

How to Run#

ros2 run map_loader lanelet2_map_visualization

Subscribed Topics#

  • ~input/lanelet2_map (autoware_auto_mapping_msgs/HADMapBin) : binary data of Lanelet2 Map

Published Topics#

  • ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz