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map_loader package#

This package provides the features of loading various maps.

pointcloud_map_loader#

Feature#

pointcloud_map_loader loads PointCloud file and publishes the map data as sensor_msgs/PointCloud2 message.

How to run#

ros2 run map_loader pointcloud_map_loader --ros-args -p "pcd_paths_or_directory:=[path/to/pointcloud1.pcd, path/to/pointcloud2.pcd, ...]"

Published Topics#

  • pointcloud_map (sensor_msgs/PointCloud2) : 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
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