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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 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