autoware_dynamic_lanelet_provider#
Purpose#
This package aims to provide a dynamic Lanelet2 map to the other Autoware nodes. The dynamic Lanelet2 map is a Lanelet2 map that is updated in real-time based on the current odometry position of the vehicle.
To use this package, you need to provide a divided Lanelet2 maps and a metadata file. You should check the lanelet2_map_loader documentation for more information about the divided lanelet map and the metadata file.
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
~/input/odometry |
nav_msgs::msg::Odometry |
ego vehicle odometry |
/map/lanelet_map_meta_data |
autoware_map_msgs::msg::LaneletMapMetaData | metadata info for lanelet2 maps |
Output#
| Name | Type | Description |
|---|---|---|
output/lanelet2_map |
autoware_map_msgs::msg::LaneletMapBin |
dynamic Lanelet2 map topic |
Client#
| Name | Type | Description |
|---|---|---|
service/get_differential_lanelet_map |
autoware_map_msgs::srv::GetSelectedLanelet2Map |
service to load differential Lanelet2 maps |
Parameters#
| Name | Type | Description | Default | Range |
|---|---|---|---|---|
| dynamic_map_loading_update_distance | float | The distance to update the map [m] | 100 | N/A |
| dynamic_map_loading_map_radius | float | The radius for the map to be loaded [m] | 200 | N/A |