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map_loader package from autoware_car repo

autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_launch ekf_localizer gyro_odometer initial_pose_button_panel localization_error_monitor ndt_scan_matcher pose2twist pose_initializer stop_filter twist2accel autoware_adapi_v1_msgs autoware_cmake autoware_utils lanelet2_extension autoware_common_msgs autoware_planning_msgs autoware_ad_api_specs autoware_point_types interpolation kalman_filter motion_utils signal_processing tier4_autoware_utils component_interface_specs component_interface_utils ndt_omp tier4_control_msgs tier4_debug_msgs tier4_localization_msgs tier4_system_msgs tier4_localization_launch tier4_map_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch pointcloud_preprocessor tier4_pcl_extensions vehicle_velocity_converter automatic_pose_initializer map_height_fitter map_loader map_tf_generator autoware_lint_common autoware_map_msgs tier4_external_api_msgs lanelet2_map_preprocessor autoware_slam autoware_gazebo autoware_gazebo_individual_params autoware_gazebo_launch autoware_gazebo_utils autoware_webots autoware_webots_individual_params autoware_webots_launch autoware_webots_utils robot webots_ros2_driver webots_ros2_msgs cartographer cartographer_ros cartographer_ros_msgs cartographer_rviz dolly dolly_follow dolly_gazebo dolly_ignition ndt_omp_ros2 graph_based_slam lidarslam lidarslam_msgs scanmatcher lio_sam pcl_localization_ros2 velodyne_description velodyne_gazebo_plugins velodyne_simulator

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Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/qin-yuan/autoware_car.git
VCS Type git
VCS Version master
Last Updated 2024-12-19
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The map_loader package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Ryu Yamamoto
  • Koji Minoda

Authors

No additional authors.
autoware_map/map_loader/README.md

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
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/pointcloud_map_loader.launch.xml
      • pointcloud_map_path [default: $(find-pkg-share autoware_slam)/maps/gazebo_lio_sam_maps/pointcloud_map.pcd]
      • pointcloud_map_loader_param_path [default: $(find-pkg-share map_loader)/config/pointcloud_map_loader.param.yaml]
  • launch/lanelet2_map_loader.launch.xml
      • lanelet2_map_loader_param_path [default: $(find-pkg-share map_loader)/config/lanelet2_map_loader.param.yaml]
      • lanelet2_map_path [default: $(find-pkg-share autoware_slam)/maps/gazebo_lio_sam_maps/lanelet2_map.osm]
      • lanelet2_map_topic [default: vector_map]
      • lanelet2_map_marker_topic [default: vector_map_marker]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged map_loader at Robotics Stack Exchange

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