Vehicle-cpp/Nav/autoware_src/autoware/common/map_file

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

Param	Type	Default value	Options
load_grid_size	double	100.0	grid size of submap.
load_trigger_distance	double	20.0	if the car moves load_trigger_distance(m), the map filter publish filtered submap.

For points_map_loader

Param	Type	Default value	Options
points_map_loader/area	String	"noupdate"	"noupdate", "1x1", "3x3", "5x5", "7x7", "9x9"
points_map_loader/mode	String	""	"", "download"
points_map_loader/pcd_paths	String array	[]	-
points_map_loader/arealist_path	String array	[]	-

.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