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

elevation_map_loader#

Feature#

Generate elevation_map from subscribed pointcloud_map and vector_map and publish it. Save the generated elevation_map locally and load it from next time.

The elevation value of each cell is the average value of z of the points of the lowest cluster.
Cells with No elevation value can be inpainted using the values of neighboring cells.

How to run#

ros2 run map_loader elevation_map_loader --ros-args grid_map_msgs::msg::GridMap -p param_file_path:=path/to/elevation_map_parameters.yaml -p elevation_map_file_path:=path/to/elevation_map/

Subscribed Topics#

input/pointcloud_map (sensor_msgs:PointCloud2) : PointCloud Map
input/vector_map (autoware_lanelet2_msgs/MapBin) : binary data of Lanelet2 Map

Published Topics#

output/elevation_map (grid_map_msgs/GridMap) : Elevation Map
output/elevation_map_cloud (sensor_msgs:PointCloud2) : Pointcloud generated from the value of Elevation Map

Parameter description#

ROS parameters#

Name	Type	Description	Default value
map_layer_name	std::string	elevation_map layer name	elevation
param_file_path	std::string	GridMap parameters config	path_default
elevation_map_file_path	std::string	elevation_map file (bag2)	path_default
map_frame	std::string	map_frame when loading elevation_map file	map
use_inpaint	bool	Whether to inpaint empty cells	true
inpaint_radius	float	Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m]	0.3
use_elevation_map_cloud_publisher	bool	Whether to publish `output/elevation_map_cloud`	false
use_lane_filter	bool	Whether to filter elevation_map with vector_map	false
lane_margin	float	Value of how much to expand the range of vector_map [m]	0.5
lane_height_diff_thresh	float	Only point clouds in the height range of this value from vector_map are used to generate elevation_map [m]	1.0
lane_filter_voxel_size_x	float	Voxel size x for calculating point clouds in vector_map [m]	0.04
lane_filter_voxel_size_y	float	Voxel size y for calculating point clouds in vector_map [m]	0.04
lane_filter_voxel_size_z	float	Voxel size z for calculating point clouds in vector_map [m]	0.04

GridMap parameters#

The parameters are described on config/elevation_map_parameters.yaml

General parameters#

Name	Type	Description	Default value
pcl_grid_map_extraction/num_processing_threads	int	Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized.	12

Grid map parameters#

See: https://github.com/ANYbotics/grid_map/tree/ros2/grid_map_pcl

Resulting grid map parameters. | Name | Type | Description | Default value | | :------------------------------------------------------- | :---- | :----------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | | pcl_grid_map_extraction/grid_map/min_num_points_per_cell | int | Minimum number of points in the point cloud that have to fall within any of the grid map cells. Otherwise the cell elevation will be set to NaN. | 3 | | pcl_grid_map_extraction/grid_map/resolution | float | Resolution of the grid map. Width and length are computed automatically. | 0.3 |

Point Cloud Pre-processing Parameters#

Rigid body transform parameters#

Cluster extraction parameters#

Cluster extraction is based on pcl algorithms. See: http://pointclouds.org/documentation/tutorials/cluster_extraction.php for more details. | Name | Type | Description | Default value | | :----------------------------------------------------------- | :---- | :------------------------------------------------------------------------------------- | :------------ | | pcl_grid_map_extraction/cluster_extraction/cluster_tolerance | float | Distance between points below which they will still be considered part of one cluster. | 0.2 | | pcl_grid_map_extraction/cluster_extraction/min_num_points | int | Min number of points that a cluster needs to have (otherwise it will be discarded). | 3 | | pcl_grid_map_extraction/cluster_extraction/max_num_points | int | Max number of points that a cluster can have (otherwise it will be discarded). | 1000000 |

Outlier removal parameters#

Subsampling parameters#