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_lanelet2_msgs/MapBin 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_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#
ros2 run 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 -p param_file_path:=path/to/elevation_map_parameters.yaml -p elevation_map_directory:=path/to/elevation_map_directory -p pointcloud_map_path:=path/to/pointcloud.pcd
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#
Rigid body transform that is applied to the point cloud before computing elevation.
| Name | Type | Description | Default value |
|---|---|---|---|
| pcl_grid_map_extraction/cloud_transform/translation | float | Translation (xyz) that is applied to the input point cloud before computing elevation. | 0.0 |
| pcl_grid_map_extraction/cloud_transform/rotation | float | Rotation (intrinsic rotation, convention X-Y'-Z'') that is applied to the input point cloud before computing elevation. | 0.0 |
Cluster extraction parameters#
Cluster extraction is based on pcl algorithms. See https://pointclouds.org/documentation/tutorials/cluster_extraction.html 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#
See https://pointclouds.org/documentation/tutorials/statistical_outlier.html for more explanation on outlier removal.
| Name | Type | Description | Default value |
|---|---|---|---|
| pcl_grid_map_extraction/outlier_removal/is_remove_outliers | float | Whether to perform statistical outlier removal. | false |
| pcl_grid_map_extraction/outlier_removal/mean_K | float | Number of neighbours to analyze for estimating statistics of a point. | 10 |
| pcl_grid_map_extraction/outlier_removal/stddev_threshold | float | Number of standard deviations under which points are considered to be inliers. | 1.0 |
Subsampling parameters#
See https://pointclouds.org/documentation/tutorials/voxel_grid.html for more explanation on point cloud downsampling.
| Name | Type | Description | Default value |
|---|---|---|---|
| pcl_grid_map_extraction/downsampling/is_downsample_cloud | bool | Whether to perform downsampling or not. | false |
| pcl_grid_map_extraction/downsampling/voxel_size | float | Voxel sizes (xyz) in meters. | 0.02 |