autoware_map_config

Parameter set for autoware_map_launch. This package ships only data: every file under config/ is a ROS 2 parameter file.

config/
├── pointcloud_map_loader.param.yaml
├── lanelet2_map_loader.param.yaml
├── map_projection_loader.param.yaml
└── map_tf_generator.param.yaml

The loader parameter files address the map files through $(var lanelet2_map_path)-style substitutions, so the launchers load them with allow_substs="true" and the system supplies the paths.

Usage

autoware_map_launch resolves the tree through its map_config_pkg argument, which defaults to this package:

<include file="$(find-pkg-share autoware_map_launch)/launch/map_loader/pointcloud_map_loader.launch.xml">
  <arg name="map_config_pkg" value="my_map_config"/>
</include>

A product that sets map_config_pkg to its own package must ship the same config/ layout, since the launch package addresses individual files by relative path. Products that differ in only a few files instead override the corresponding *_param_path arguments.