autoware_dynamic_lanelet_provider
Purpose
This package aims to provide a dynamic Lanelet2 map to the other Autoware nodes.
The dynamic Lanelet2 map is a Lanelet2 map that is updated in real-time based
on the current odometry position of the vehicle.
To use this package, you need to provide a divided Lanelet2 maps and a metadata file.
You should check
the lanelet2_map_loader documentation
for more information about the divided lanelet map and the metadata file.
| Name |
Type |
Description |
~/input/odometry |
nav_msgs::msg::Odometry |
ego vehicle odometry |
/map/lanelet_map_meta_data |
autoware_map_msgs::msg::LaneletMapMetaData |
metadata info for lanelet2 maps |
Output
| Name |
Type |
Description |
output/lanelet2_map |
autoware_map_msgs::msg::LaneletMapBin |
dynamic Lanelet2 map topic |
Client
| Name |
Type |
Description |
service/get_differential_lanelet_map |
autoware_map_msgs::srv::GetSelectedLanelet2Map |
service to load differential Lanelet2 maps |
Parameters
| Name |
Type |
Description |
Default |
Range |
| dynamic_map_loading_update_distance |
float |
The distance to update the map [m] |
100 |
N/A |
| dynamic_map_loading_map_radius |
float |
The radius for the map to be loaded [m] |
200 |
N/A |