map_loader package#
This package provides the features of loading various maps.
pointcloud_map_loader#
Feature#
pointcloud_map_loader loads PointCloud file and publish the map data as sensor_msgs/PointCloud2 message.
How to run#
rosrun map_loader pointcloud_map_loader 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 publish the map data as autoware_lanelet2_msgs/MapBin message. The node projects lan/lon coordinates into MGRS coordinates.
How to run#
rosrun map_loader lanelet2_map_loader path/to/map.osm
Published Topics#
- ~output/lanelet2_map (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#
rosrun map_loader lanelet2_map_visualization
Subscribed Topics#
- ~input/lanelet2_map (autoware_lanelet2_msgs/MapBin) : binary data of Lanelet2 Map
Published Topics#
- ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RVIZ