From d608e0926604bd1acbad862637ff5df5ee4f9a96 Mon Sep 17 00:00:00 2001 From: kminoda Date: Mon, 13 Nov 2023 14:38:50 +0900 Subject: [PATCH] fix(docs): fix url for divided map Signed-off-by: kminoda --- .../how-to-guides/others/using-divided-map.md | 30 +++++++++++++++++++ 1 file changed, 30 insertions(+) create mode 100644 docs/how-to-guides/others/using-divided-map.md diff --git a/docs/how-to-guides/others/using-divided-map.md b/docs/how-to-guides/others/using-divided-map.md new file mode 100644 index 00000000000..5f90304b769 --- /dev/null +++ b/docs/how-to-guides/others/using-divided-map.md @@ -0,0 +1,30 @@ +# Using divided pointcloud map + +Divided pointcloud map is necessary when handling large pointcloud map, in which case Autoware may not be capable of sending the whole map via ROS 2 topic or loading the whole map into memory. By using the pre-divided map, Autoware will dynamically load the pointcloud map according to the vehicle's position. + +## Tutorial + +Download the [sample-map-rosbag_split](https://docs.google.com/uc?export=download&id=11tLC9T4MS8fnZ9Wo0D8-Ext7hEDl2YJ4) and locate the map under `$HOME/autoware_map/`. + +```bash +gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=11tLC9T4MS8fnZ9Wo0D8-Ext7hEDl2YJ4' +unzip -d ~/autoware_map/ ~/autoware_map/sample-rosbag_split.zip +``` + +Then, you may launch logging_simulator with the following command to load the divided map. +Note that you need to specify the `map_path` and `pointcloud_map_file` arguments. + +```bash +source ~/autoware/install/setup.bash +ros2 launch autoware_launch logging_simulator.launch.xml \ + map_path:=$HOME/autoware_map/sample-map-rosbag pointcloud_map_file:=pointcloud_map \ + vehicle_model:=sample_vehicle_split sensor_model:=sample_sensor_kit +``` + +For playing rosbag to simulate Autoware, please refer to the instruction in [the tutorial for rosbag replay simulation](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/). + +## Related links + +- For specific format definition of the divided map, please refer to [Map component design page](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/map/) +- [The Readme of map_loader](https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_loader) may be useful specific instructions for dividing maps +- When dividing your own pointcloud map, you may use [pointcloud_divider](https://github.com/MapIV/pointcloud_divider), which can divide the map as well as generating the compatible metadata