map_file package

points_map_filter

feature

points_map_filter_node subscribe pointcloud maps and current pose, the node extract pointcloud near to the current pose.

subscribed topics

/points_map (sensor_msgs/PointCloud2) : Raw pointcloud map. This topic usually comes from points_map_loader.
/current_pose (geometry_msgs/PoseStamped) : Current pose of the car. This topic usually comes from pose_relay node.

published topics

/points_map/filtered (sensor_msgs/PointCloud2) : Filtered pointcloud submap.

parameters

For points_map_filter

For points_map_loader

.pcd file search function is also implemented. Now you can specify multiple files or directories for pcd_paths. If directories are specified, it automatically search files in it.

how it works

map_filter_node relay /points_map topic until it recieves /current_pose topic.
Then, the /current_pose topic recieved, the map_filter_node publish submap.

demonstration

vector_map_loader

This node loads a vector map from csv files.

parameters

• load_mode - Set the mode of operation for the node. Possible values are:
  • “file” - Default operation mode, requires each csv file to be specified in args.
  • “directory” - Loads all csv files with vector map names in the directory specified by the map_dir parameter.
  • “download” - Downloads the vector map csvs from a webhost, use the args to specify
• map_dir - Specify the path to the directory containing vector map csv files. Only used in “directory” mode.
• host - Hostname of the webserver. Only used in “download” mode.
• port - Port of the webserver. Only used in “download” mode.
• username - Username. Only used in “download” mode.
• password - Password. Only used in “download” mode.

lanelet2_map_loader

Feature

lanelet2_map_loader loads Lanelet2 file and publish the map data as autoware_lanelet2_msgs/MapBin message. The node projects lan/lon coordinates into MGRS coordinates.

How to run

Run from CLI: rosrun map_file lanelet2_map_loader path/to/map.osm

Published Topic

/lanelet_map_bin (autoware_lanelet2_msgs/MapBin) : Binary data of loaded Lanelet2 Map.

lanelet2_map_visualization

Feature

lanelet2_map_visualization visualizes autoware_lanelet2_msgs/MapBin messages into visualization_msgs/MarkerArray.

How to run

Run from CLI: rosrun map_file lanelet2_map_visualization

Subscribed Topics

/lanelet_map_bin (autoware_lanelet2_msgs/MapBin) : binary data of Lanelet2 Map

Published Topics

/lanelet2_map_viz (visualization_msgs/MarkerArray) : visualization messages for RVIZ

Changelog for package map_file

1.11.0 (2019-03-21)

• [fix] Install commands for all the packages (#1861)

  • Initial fixes to detection, sensing, semantics and utils

  • fixing wrong filename on install command

  • Fixes to install commands

  • Hokuyo fix name

  • Fix obj db

  • Obj db include fixes

  • End of final cleaning sweep

  • Incorrect command order in runtime manager

  • Param tempfile not required by runtime_manager

  • • Fixes to runtime manager install commands

  • Remove devel directory from catkin, if any

  • Updated launch files for robosense

  • Updated robosense

  • Fix/add missing install (#1977)

  • Added launch install to lidar_kf_contour_track

  • Added install to op_global_planner

  • Added install to way_planner

  • Added install to op_local_planner

  • Added install to op_simulation_package

  • Added install to op_utilities

  • Added install to sync

  • • Improved installation script for pointgrey packages

  • Fixed nodelet error for gmsl cameras

  • USe install space in catkin as well

  • add install to catkin

  • Fix install directives (#1990)

  • Fixed installation path

  • Fixed params installation path

  • Fixed cfg installation path

  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Contributors: Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

• Fixes for catkin_make
• Switch to Apache 2 license (develop branch) (#1741)
  • Switch to Apache 2

  * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

  • Update license on Python files
  • Update copyright years
  • Add #ifndef/define _POINTS_IMAGE_H_
  • Updated license comment
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Feature/points map filter (#1658)
  • add points_map_filter node
  • add passthrough filter
  • fix filter function
  • apply clang-format

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