From 690d6086f667269556bafddf0568af2f620e7050 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= <baris@leodrive.ai>
Date: Mon, 26 Aug 2024 12:45:25 +0300
Subject: [PATCH 01/15] feat(map): add differential lanelet loading
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Signed-off-by: Barış Zeren <baris@leodrive.ai>
---
.../include/component_interface_specs/map.hpp | 10 +
common/component_interface_specs/package.xml | 1 +
.../test/test_map.cpp | 9 +
launch/tier4_map_launch/launch/map.launch.xml | 30 ++-
.../CMakeLists.txt | 19 ++
.../README.md | 37 ++++
.../dynamic_lanelet_provider.param.yaml | 4 +
.../dynamic_lanelet_provider.hpp | 85 ++++++++
.../dynamic_lanelet_provider.launch.xml | 7 +
.../package.xml | 23 +++
.../dynamic_lanelet_provider.schema.json | 38 ++++
.../src/dynamic_lanelet_provider.cpp | 195 ++++++++++++++++++
map/map_loader/CMakeLists.txt | 2 +
.../config/lanelet2_map_loader.param.yaml | 6 +
.../lanelet2_differential_loader_module.hpp | 86 ++++++++
.../map_loader/lanelet2_map_loader_node.hpp | 17 ++
map/map_loader/include/map_loader/utils.hpp | 35 ++++
.../schema/lanelet2_map_loader.schema.json | 25 +++
.../lanelet2_differential_loader_module.cpp | 155 ++++++++++++++
.../lanelet2_map_loader_node.cpp | 148 ++++++++++++-
.../src/lanelet2_map_loader/utils.cpp | 65 ++++++
21 files changed, 990 insertions(+), 7 deletions(-)
create mode 100644 map/autoware_dynamic_lanelet_provider/CMakeLists.txt
create mode 100644 map/autoware_dynamic_lanelet_provider/README.md
create mode 100644 map/autoware_dynamic_lanelet_provider/config/dynamic_lanelet_provider.param.yaml
create mode 100644 map/autoware_dynamic_lanelet_provider/include/autoware/dynamic_lanelet_provider/dynamic_lanelet_provider.hpp
create mode 100644 map/autoware_dynamic_lanelet_provider/launch/dynamic_lanelet_provider.launch.xml
create mode 100644 map/autoware_dynamic_lanelet_provider/package.xml
create mode 100644 map/autoware_dynamic_lanelet_provider/schema/dynamic_lanelet_provider.schema.json
create mode 100644 map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp
create mode 100644 map/map_loader/include/map_loader/lanelet2_differential_loader_module.hpp
create mode 100644 map/map_loader/include/map_loader/utils.hpp
create mode 100644 map/map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp
create mode 100644 map/map_loader/src/lanelet2_map_loader/utils.cpp
diff --git a/common/component_interface_specs/include/component_interface_specs/map.hpp b/common/component_interface_specs/include/component_interface_specs/map.hpp
index dc162d4a7267a..d3681d79b39cc 100644
--- a/common/component_interface_specs/include/component_interface_specs/map.hpp
+++ b/common/component_interface_specs/include/component_interface_specs/map.hpp
@@ -17,6 +17,7 @@
#include <rclcpp/qos.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_meta_data.hpp>
#include <tier4_map_msgs/msg/map_projector_info.hpp>
namespace map_interface
@@ -31,6 +32,15 @@ struct MapProjectorInfo
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
};
+struct LaneletMapMetaData
+{
+ using Message = autoware_map_msgs::msg::LaneletMapMetaData;
+ static constexpr char name[] = "/map/lanelet_map_meta_data";
+ static constexpr size_t depth = 1;
+ static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+ static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
} // namespace map_interface
#endif // COMPONENT_INTERFACE_SPECS__MAP_HPP_
diff --git a/common/component_interface_specs/package.xml b/common/component_interface_specs/package.xml
index fa57bb1641eed..fdb7b62c185ec 100644
--- a/common/component_interface_specs/package.xml
+++ b/common/component_interface_specs/package.xml
@@ -12,6 +12,7 @@
<buildtool_depend>autoware_cmake</buildtool_depend>
<depend>autoware_adapi_v1_msgs</depend>
+ <depend>autoware_map_msgs</depend>
<depend>autoware_perception_msgs</depend>
<depend>autoware_planning_msgs</depend>
<depend>autoware_vehicle_msgs</depend>
diff --git a/common/component_interface_specs/test/test_map.cpp b/common/component_interface_specs/test/test_map.cpp
index a65f2cb7120d1..d61505d7efead 100644
--- a/common/component_interface_specs/test/test_map.cpp
+++ b/common/component_interface_specs/test/test_map.cpp
@@ -25,4 +25,13 @@ TEST(map, interface)
EXPECT_EQ(map_projector.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
EXPECT_EQ(map_projector.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
}
+
+ {
+ using map_interface::LaneletMapMetaData;
+ LaneletMapMetaData lanelet_metadata;
+ size_t depth = 1;
+ EXPECT_EQ(lanelet_metadata.depth, depth);
+ EXPECT_EQ(lanelet_metadata.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+ EXPECT_EQ(lanelet_metadata.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+ }
}
diff --git a/launch/tier4_map_launch/launch/map.launch.xml b/launch/tier4_map_launch/launch/map.launch.xml
index bd97963bd1268..d50b54f293ce4 100644
--- a/launch/tier4_map_launch/launch/map.launch.xml
+++ b/launch/tier4_map_launch/launch/map.launch.xml
@@ -3,19 +3,25 @@
<arg name="pointcloud_map_path"/>
<arg name="pointcloud_map_metadata_path"/>
<arg name="lanelet2_map_path"/>
+ <arg name="lanelet2_map_metadata_path"/>
<arg name="map_projector_info_path"/>
<!-- Parameter files -->
<arg name="pointcloud_map_loader_param_path"/>
<arg name="lanelet2_map_loader_param_path"/>
+ <arg name="dynamic_lanelet_provider_param_path"/>
<arg name="map_tf_generator_param_path"/>
<arg name="map_projection_loader_param_path"/>
+ <!-- Dynamic lanelet loading -->
+ <arg name="enable_differential_map_loading"/>
+
<!-- whether use intra-process -->
<arg name="use_intra_process" default="false"/>
<!-- select container type -->
- <arg name="use_multithread" default="false"/>
+ <arg name="use_multithread" default="false" unless="$(var enable_differential_map_loading)"/>
+ <arg name="use_multithread" default="true" if="$(var enable_differential_map_loading)"/>
<let name="container_type" value="component_container" unless="$(var use_multithread)"/>
<let name="container_type" value="component_container_mt" if="$(var use_multithread)"/>
@@ -38,7 +44,23 @@
<composable_node pkg="map_loader" plugin="Lanelet2MapLoaderNode" name="lanelet2_map_loader">
<param from="$(var lanelet2_map_loader_param_path)"/>
<param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
+ <param name="lanelet2_map_metadata_path" value="$(var lanelet2_map_metadata_path)"/>
+ <param name="enable_differential_map_loading" value="$(var enable_differential_map_loading)"/>
<remap from="output/lanelet2_map" to="vector_map"/>
+ <remap from="service/get_differential_lanelet_map" to="/map/get_differential_lanelet_map"/>
+ <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+ </composable_node>
+
+ <composable_node
+ pkg="autoware_dynamic_lanelet_provider"
+ plugin="autoware::dynamic_lanelet_provider::DynamicLaneletProviderNode"
+ name="dynamic_lanelet_provider"
+ if="$(var enable_differential_map_loading)"
+ >
+ <param from="$(var dynamic_lanelet_provider_param_path)"/>
+ <remap from="input/odometry" to="/localization/kinematic_state"/>
+ <remap from="output/lanelet2_map" to="dynamic_vector_map"/>
+ <remap from="service/get_differential_lanelet_map" to="/map/get_differential_lanelet_map"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
@@ -48,6 +70,12 @@
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
+ <composable_node pkg="map_loader" plugin="Lanelet2MapVisualizationNode" name="dynamic_lanelet2_map_visualization" if="$(var enable_differential_map_loading)">
+ <remap from="input/lanelet2_map" to="/map/dynamic_vector_map"/>
+ <remap from="output/lanelet2_map_marker" to="/map/dynamic_vector_map_marker"/>
+ <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+ </composable_node>
+
<composable_node pkg="autoware_map_tf_generator" plugin="autoware::map_tf_generator::VectorMapTFGeneratorNode" name="vector_map_tf_generator">
<param from="$(var map_tf_generator_param_path)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
diff --git a/map/autoware_dynamic_lanelet_provider/CMakeLists.txt b/map/autoware_dynamic_lanelet_provider/CMakeLists.txt
new file mode 100644
index 0000000000000..aa25a9e2430d5
--- /dev/null
+++ b/map/autoware_dynamic_lanelet_provider/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_dynamic_lanelet_provider)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(dynamic_lanelet_provider_node SHARED
+ src/dynamic_lanelet_provider.cpp
+)
+
+rclcpp_components_register_node(dynamic_lanelet_provider_node
+ PLUGIN "autoware::dynamic_lanelet_provider::DynamicLaneletProviderNode"
+ EXECUTABLE dynamic_lanelet_provider
+)
+
+ament_auto_package(INSTALL_TO_SHARE
+ launch
+ config
+)
diff --git a/map/autoware_dynamic_lanelet_provider/README.md b/map/autoware_dynamic_lanelet_provider/README.md
new file mode 100644
index 0000000000000..f88534ae6bb93
--- /dev/null
+++ b/map/autoware_dynamic_lanelet_provider/README.md
@@ -0,0 +1,37 @@
+# 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](https://autowarefoundation.github.io/autoware.universe/main/map/map_loader/#lanelet2_map_loader)
+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_auto_mapping_msgs::msg::HADMapBin` | dynamic Lanelet2 map topic |
+
+### Service
+
+| Name | Type | Description |
+| -------------------------------------- | ------------------------------------------------ | ------------------------------------------ |
+| `service/get_differential_lanelet_map` | `autoware_map_msgs::srv::GetSelectedLanelet2Map` | service to load differential Lanelet2 maps |
+
+## Parameters
+
+{{ json_to_markdown("map/autoware_dynamic_lanelet_provider/schema/dynamic_lanelet_provider.schema.json") }}
diff --git a/map/autoware_dynamic_lanelet_provider/config/dynamic_lanelet_provider.param.yaml b/map/autoware_dynamic_lanelet_provider/config/dynamic_lanelet_provider.param.yaml
new file mode 100644
index 0000000000000..b4f71e3b9fdde
--- /dev/null
+++ b/map/autoware_dynamic_lanelet_provider/config/dynamic_lanelet_provider.param.yaml
@@ -0,0 +1,4 @@
+/**:
+ ros__parameters:
+ dynamic_map_loading_update_distance: 100.0 # [m]
+ dynamic_map_loading_map_radius: 200.0 # [m]
diff --git a/map/autoware_dynamic_lanelet_provider/include/autoware/dynamic_lanelet_provider/dynamic_lanelet_provider.hpp b/map/autoware_dynamic_lanelet_provider/include/autoware/dynamic_lanelet_provider/dynamic_lanelet_provider.hpp
new file mode 100644
index 0000000000000..8ca71b96020b6
--- /dev/null
+++ b/map/autoware_dynamic_lanelet_provider/include/autoware/dynamic_lanelet_provider/dynamic_lanelet_provider.hpp
@@ -0,0 +1,85 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__DYNAMIC_LANELET_PROVIDER__DYNAMIC_LANELET_PROVIDER_HPP_
+#define AUTOWARE__DYNAMIC_LANELET_PROVIDER__DYNAMIC_LANELET_PROVIDER_HPP_
+
+#include <component_interface_specs/map.hpp>
+#include <component_interface_utils/rclcpp.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include "autoware_map_msgs/msg/lanelet_map_meta_data.hpp"
+#include "autoware_map_msgs/srv/get_selected_lanelet2_map.hpp"
+#include <geometry_msgs/msg/point.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+#include <tier4_map_msgs/msg/map_projector_info.hpp>
+
+#include <optional>
+#include <string>
+#include <vector>
+
+namespace autoware
+{
+namespace dynamic_lanelet_provider
+{
+
+struct Lanelet2FileMetaData
+{
+ std::string id;
+ double min_x;
+ double max_x;
+ double min_y;
+ double max_y;
+};
+
+class DynamicLaneletProviderNode : public rclcpp::Node
+{
+public:
+ explicit DynamicLaneletProviderNode(const rclcpp::NodeOptions & options);
+
+private:
+ void onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr & msg);
+ void mapUpdateTimerCallback();
+
+ void updateMap(const geometry_msgs::msg::Point & pose);
+ bool should_update_map() const;
+
+ rclcpp::Publisher<autoware_map_msgs::msg::LaneletMapBin>::SharedPtr dynamic_map_pub_;
+
+ rclcpp::Client<autoware_map_msgs::srv::GetSelectedLanelet2Map>::SharedPtr map_loader_client_;
+
+ rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odometry_sub_;
+
+ component_interface_utils::Subscription<map_interface::LaneletMapMetaData>::SharedPtr
+ lanelet_map_meta_data_sub_;
+
+ rclcpp::TimerBase::SharedPtr map_update_timer_;
+
+ rclcpp::CallbackGroup::SharedPtr client_callback_group_;
+ rclcpp::CallbackGroup::SharedPtr timer_callback_group_;
+
+ std::string map_frame_;
+
+ std::optional<geometry_msgs::msg::Point> last_update_position_ = std::nullopt;
+ std::optional<geometry_msgs::msg::Point> current_position_ = std::nullopt;
+
+ const double dynamic_map_loading_update_distance_;
+ const double dynamic_map_loading_map_radius_;
+
+ std::vector<Lanelet2FileMetaData> lanelet_map_meta_data_list_;
+};
+} // namespace dynamic_lanelet_provider
+} // namespace autoware
+
+#endif // AUTOWARE__DYNAMIC_LANELET_PROVIDER__DYNAMIC_LANELET_PROVIDER_HPP_
diff --git a/map/autoware_dynamic_lanelet_provider/launch/dynamic_lanelet_provider.launch.xml b/map/autoware_dynamic_lanelet_provider/launch/dynamic_lanelet_provider.launch.xml
new file mode 100644
index 0000000000000..ea8cd938a245b
--- /dev/null
+++ b/map/autoware_dynamic_lanelet_provider/launch/dynamic_lanelet_provider.launch.xml
@@ -0,0 +1,7 @@
+<launch>
+ <arg name="dynamic_lanelet_provider_param_path" default="$(find-pkg-share autoware_dynamic_lanelet_provider)/config/dynamic_lanelet_provider.param.yaml"/>
+
+ <node pkg="autoware_dynamic_lanelet_provider" exec="dynamic_lanelet_provider_node" name="dynamic_lanelet_provider_node">
+ <param from="$(var dynamic_lanelet_provider_param_path)"/>
+ </node>
+</launch>
diff --git a/map/autoware_dynamic_lanelet_provider/package.xml b/map/autoware_dynamic_lanelet_provider/package.xml
new file mode 100644
index 0000000000000..54ba9c59702be
--- /dev/null
+++ b/map/autoware_dynamic_lanelet_provider/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>autoware_dynamic_lanelet_provider</name>
+ <version>0.1.0</version>
+ <description>Dynamic map provider package</description>
+ <maintainer email="baris@leodrive.ai">bzeren</maintainer>
+ <license>Apache License 2.0</license>
+ <author email="baris@leodrive.ai">bzeren</author>
+
+ <buildtool_depend>ament_cmake_auto</buildtool_depend>
+ <buildtool_depend>autoware_cmake</buildtool_depend>
+
+ <depend>autoware_auto_mapping_msgs</depend>
+ <depend>autoware_map_msgs</depend>
+ <depend>component_interface_specs</depend>
+ <depend>component_interface_utils</depend>
+ <depend>geography_utils</depend>
+
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>
diff --git a/map/autoware_dynamic_lanelet_provider/schema/dynamic_lanelet_provider.schema.json b/map/autoware_dynamic_lanelet_provider/schema/dynamic_lanelet_provider.schema.json
new file mode 100644
index 0000000000000..098e7563e401a
--- /dev/null
+++ b/map/autoware_dynamic_lanelet_provider/schema/dynamic_lanelet_provider.schema.json
@@ -0,0 +1,38 @@
+{
+ "$schema": "http://json-schema.org/draft-07/schema#",
+ "title": "Parameters for autoware_dynamic_lanelet_provider",
+ "type": "object",
+ "definitions": {
+ "autoware_dynamic_lanelet_provider": {
+ "type": "object",
+ "properties": {
+ "dynamic_map_loading_update_distance": {
+ "type": "number",
+ "description": "The distance to update the map [m]",
+ "default": "100.0"
+ },
+ "dynamic_map_loading_map_radius": {
+ "type": "number",
+ "description": "The radius for the map to be loaded [m]",
+ "default": "200.0"
+ }
+ },
+ "required": ["dynamic_map_loading_update_distance", "dynamic_map_loading_map_radius"],
+ "additionalProperties": false
+ }
+ },
+ "properties": {
+ "/**": {
+ "type": "object",
+ "properties": {
+ "ros__parameters": {
+ "$ref": "#/definitions/autoware_dynamic_lanelet_provider"
+ }
+ },
+ "required": ["ros__parameters"],
+ "additionalProperties": false
+ }
+ },
+ "required": ["/**"],
+ "additionalProperties": false
+}
diff --git a/map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp b/map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp
new file mode 100644
index 0000000000000..ccead1380ccfe
--- /dev/null
+++ b/map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp
@@ -0,0 +1,195 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "autoware/dynamic_lanelet_provider/dynamic_lanelet_provider.hpp"
+
+namespace autoware
+{
+namespace dynamic_lanelet_provider
+{
+
+// Define a helper function to get x and y
+template <typename T>
+auto getX(const T & point) -> decltype(point.x)
+{
+ return point.x;
+}
+
+template <typename T>
+auto getY(const T & point) -> decltype(point.y)
+{
+ return point.y;
+}
+
+// Define a helper function to get x() and y()
+template <typename T>
+auto getX(const T & point) -> decltype(point.x())
+{
+ return point.x();
+}
+
+template <typename T>
+auto getY(const T & point) -> decltype(point.y())
+{
+ return point.y();
+}
+
+template <typename T, typename U>
+double norm_xy(const T & p1, const U & p2)
+{
+ double dx = getX(p1) - getX(p2);
+ double dy = getY(p1) - getY(p2);
+ return std::hypot(dx, dy);
+}
+
+DynamicLaneletProviderNode::DynamicLaneletProviderNode(const rclcpp::NodeOptions & options)
+: Node("dynamic_lanelet_provider", options),
+ map_frame_("map"),
+ dynamic_map_loading_update_distance_(
+ declare_parameter<double>("dynamic_map_loading_update_distance")),
+ dynamic_map_loading_map_radius_(declare_parameter<double>("dynamic_map_loading_map_radius"))
+{
+ client_callback_group_ =
+ this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+ timer_callback_group_ = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+
+ dynamic_map_pub_ = this->create_publisher<autoware_map_msgs::msg::LaneletMapBin>(
+ "output/lanelet2_map", rclcpp::QoS{1}.transient_local());
+
+ map_loader_client_ = this->create_client<autoware_map_msgs::srv::GetSelectedLanelet2Map>(
+ "service/get_differential_lanelet_map", rmw_qos_profile_services_default,
+ client_callback_group_);
+
+ odometry_sub_ = this->create_subscription<nav_msgs::msg::Odometry>(
+ "input/odometry", 1,
+ std::bind(&DynamicLaneletProviderNode::onOdometry, this, std::placeholders::_1));
+
+ const auto metadata_adaptor = component_interface_utils::NodeAdaptor(this);
+ metadata_adaptor.init_sub(
+ lanelet_map_meta_data_sub_,
+ [this](const autoware_map_msgs::msg::LaneletMapMetaData::SharedPtr msg) {
+ for (const auto & data : msg->metadata_list) {
+ Lanelet2FileMetaData metadata;
+ metadata.id = data.cell_id;
+ metadata.min_x = data.min_x;
+ metadata.max_x = data.max_x;
+ metadata.min_y = data.min_y;
+ metadata.max_y = data.max_y;
+ lanelet_map_meta_data_list_.push_back(metadata);
+ }
+ });
+
+ double map_update_dt = 1.0;
+ auto period_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
+ std::chrono::duration<double>(map_update_dt));
+ map_update_timer_ = rclcpp::create_timer(
+ this, get_clock(), period_ns,
+ std::bind(&DynamicLaneletProviderNode::mapUpdateTimerCallback, this), timer_callback_group_);
+}
+
+void DynamicLaneletProviderNode::mapUpdateTimerCallback()
+{
+ if (current_position_ == std::nullopt) {
+ RCLCPP_ERROR_STREAM_THROTTLE(
+ get_logger(), *get_clock(), 1,
+ "Cannot find the reference position for lanelet map update. Please check if the EKF odometry "
+ "is provided to behavior planner map update module.");
+ return;
+ }
+
+ if (lanelet_map_meta_data_list_.empty()) {
+ RCLCPP_ERROR_ONCE(get_logger(), "Check your lanelet map metadata and projector info.");
+ return;
+ }
+
+ if (should_update_map()) {
+ RCLCPP_INFO(get_logger(), "Start updating lanelet map (timer callback)");
+
+ last_update_position_ = current_position_;
+ updateMap(current_position_.value());
+ }
+}
+
+void DynamicLaneletProviderNode::updateMap(const geometry_msgs::msg::Point & pose)
+{
+ std::vector<std::string> cache_ids;
+ for (const auto & metadata : lanelet_map_meta_data_list_) {
+ geometry_msgs::msg::Point point;
+ point.x = (metadata.min_x + metadata.max_x) / 2;
+ point.y = (metadata.min_y + metadata.max_y) / 2;
+
+ double distance = norm_xy(point, pose);
+ if (distance < dynamic_map_loading_map_radius_) {
+ cache_ids.push_back(metadata.id);
+ }
+ }
+
+ if (cache_ids.empty()) {
+ RCLCPP_ERROR(get_logger(), "No lanelet map is found in the radius.");
+ return;
+ }
+
+ auto request = std::make_shared<autoware_map_msgs::srv::GetSelectedLanelet2Map::Request>();
+ request->cell_ids.insert(request->cell_ids.end(), cache_ids.begin(), cache_ids.end());
+
+ while (!map_loader_client_->wait_for_service(std::chrono::seconds(1)) && rclcpp::ok()) {
+ RCLCPP_INFO(get_logger(), "Waiting for lanelet loader service");
+ }
+
+ auto result{map_loader_client_->async_send_request(
+ request, [](rclcpp::Client<autoware_map_msgs::srv::GetSelectedLanelet2Map>::SharedFuture) {})};
+
+ std::future_status status = result.wait_for(std::chrono::seconds(0));
+ while (status != std::future_status::ready) {
+ switch (status) {
+ case std::future_status::ready:
+ RCLCPP_INFO(get_logger(), "The future status is (ready).");
+ break;
+ case std::future_status::timeout:
+ RCLCPP_INFO(get_logger(), "The future status is (timed out).");
+ break;
+ case std::future_status::deferred:
+ RCLCPP_INFO(get_logger(), "The future status is (deferred).");
+ break;
+ }
+ RCLCPP_INFO(get_logger(), "waiting response from lanelet loader service.");
+ if (!rclcpp::ok()) {
+ return;
+ }
+ status = result.wait_for(std::chrono::seconds(1));
+ }
+
+ dynamic_map_pub_->publish(result.get()->lanelet2_cells);
+}
+
+void DynamicLaneletProviderNode::onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr & msg)
+{
+ current_position_ = msg->pose.pose.position;
+}
+
+bool DynamicLaneletProviderNode::should_update_map() const
+{
+ if (last_update_position_ == std::nullopt) {
+ return true;
+ }
+
+ double distance = norm_xy(current_position_.value(), last_update_position_.value());
+ return distance > dynamic_map_loading_update_distance_;
+}
+
+} // namespace dynamic_lanelet_provider
+} // namespace autoware
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::dynamic_lanelet_provider::DynamicLaneletProviderNode)
diff --git a/map/map_loader/CMakeLists.txt b/map/map_loader/CMakeLists.txt
index 115f7e5b17464..87535edfa896d 100644
--- a/map/map_loader/CMakeLists.txt
+++ b/map/map_loader/CMakeLists.txt
@@ -29,6 +29,8 @@ rclcpp_components_register_node(pointcloud_map_loader_node
ament_auto_add_library(lanelet2_map_loader_node SHARED
src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
+ src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp
+ src/lanelet2_map_loader/utils.cpp
)
rclcpp_components_register_node(lanelet2_map_loader_node
diff --git a/map/map_loader/config/lanelet2_map_loader.param.yaml b/map/map_loader/config/lanelet2_map_loader.param.yaml
index 48d392a1b8e66..412f6ec1d2375 100755
--- a/map/map_loader/config/lanelet2_map_loader.param.yaml
+++ b/map/map_loader/config/lanelet2_map_loader.param.yaml
@@ -1,6 +1,12 @@
/**:
ros__parameters:
+ enable_differential_map_loading: false # flag to enable loading of differential map
allow_unsupported_version: true # flag to load unsupported format_version anyway. If true, just prints warning.
center_line_resolution: 5.0 # [m]
use_waypoints: true # "centerline" in the Lanelet2 map will be used as a "waypoints" tag.
lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path
+ dummy_metadata: # When the dynamic map loading is true and the map is a single file, this parameter will generate the metadata.
+ min_x: 0.0
+ min_y: 0.0
+ x_resolution: 100000.0
+ y_resolution: 100000.0
diff --git a/map/map_loader/include/map_loader/lanelet2_differential_loader_module.hpp b/map/map_loader/include/map_loader/lanelet2_differential_loader_module.hpp
new file mode 100644
index 0000000000000..18b3d0f6a71c5
--- /dev/null
+++ b/map/map_loader/include/map_loader/lanelet2_differential_loader_module.hpp
@@ -0,0 +1,86 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MAP_LOADER__LANELET2_DIFFERENTIAL_LOADER_MODULE_HPP_
+#define MAP_LOADER__LANELET2_DIFFERENTIAL_LOADER_MODULE_HPP_
+
+#include "autoware_lanelet2_extension/io/autoware_multi_osm_parser.hpp"
+#include "map_loader/utils.hpp"
+
+#include <autoware/geography_utils/lanelet2_projector.hpp>
+#include <autoware_lanelet2_extension/io/autoware_osm_parser.hpp>
+#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
+#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
+#include <autoware_lanelet2_extension/utility/utilities.hpp>
+#include <component_interface_specs/map.hpp>
+#include <component_interface_utils/rclcpp.hpp>
+#include <pugixml.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include "autoware_map_msgs/srv/get_selected_lanelet2_map.hpp"
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_meta_data.hpp>
+#include <tier4_map_msgs/msg/map_projector_info.hpp>
+
+#include <lanelet2_core/LaneletMap.h>
+#include <lanelet2_core/geometry/LineString.h>
+#include <lanelet2_io/Io.h>
+#include <lanelet2_projection/UTM.h>
+
+#include <filesystem>
+#include <map>
+#include <string>
+#include <vector>
+
+using GetDifferentialLanelet2Map = autoware_map_msgs::srv::GetSelectedLanelet2Map;
+using autoware_map_msgs::msg::LaneletMapBin;
+
+class Lanelet2DifferentialLoaderModule
+{
+public:
+ explicit Lanelet2DifferentialLoaderModule(
+ rclcpp::Node * node, const double & center_line_resolution);
+
+ void setLaneletMapMetadata(
+ std::map<std::string, Lanelet2FileMetaData> & lanelet2_metadata_dict, double x_res,
+ double y_res);
+
+ void setProjectionInfo(const tier4_map_msgs::msg::MapProjectorInfo & projector_info);
+
+ lanelet::LaneletMapPtr differentialLanelet2Load(std::vector<std::string> & lanelet2_paths);
+
+private:
+ rclcpp::Logger logger_;
+ rclcpp::Clock::SharedPtr clock_;
+
+ std::map<std::string, Lanelet2FileMetaData> lanelet2_file_metadata_dict_;
+
+ rclcpp::Service<GetDifferentialLanelet2Map>::SharedPtr get_differential_lanelet2_maps_service_;
+
+ component_interface_utils::Publisher<map_interface::LaneletMapMetaData>::SharedPtr
+ pub_lanelet_map_meta_data_;
+
+ std::optional<tier4_map_msgs::msg::MapProjectorInfo> projector_info_;
+
+ double center_line_resolution_;
+
+ bool onServiceGetDifferentialLanelet2Map(
+ GetDifferentialLanelet2Map::Request::SharedPtr req,
+ GetDifferentialLanelet2Map::Response::SharedPtr res);
+
+ autoware_map_msgs::msg::LaneletMapMetaData getLaneletMapMetaDataMsg(
+ const double & x_res, const double & y_res) const;
+};
+
+#endif // MAP_LOADER__LANELET2_DIFFERENTIAL_LOADER_MODULE_HPP_
diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
index e38d65201ee56..451682bee5863 100644
--- a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
+++ b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
@@ -15,6 +15,9 @@
#ifndef MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
#define MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
+#include "map_loader/lanelet2_differential_loader_module.hpp"
+#include "map_loader/utils.hpp"
+
#include <autoware_lanelet2_extension/version.hpp>
#include <component_interface_specs/map.hpp>
#include <component_interface_utils/rclcpp.hpp>
@@ -25,8 +28,10 @@
#include <lanelet2_projection/UTM.h>
+#include <map>
#include <memory>
#include <string>
+#include <vector>
class Lanelet2MapLoaderNode : public rclcpp::Node
{
@@ -48,8 +53,20 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
void on_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg);
+ std::unique_ptr<Lanelet2DifferentialLoaderModule> differential_loader_module_;
+
component_interface_utils::Subscription<MapProjectorInfo>::SharedPtr sub_map_projector_info_;
rclcpp::Publisher<autoware_map_msgs::msg::LaneletMapBin>::SharedPtr pub_map_bin_;
+
+ std::vector<std::string> get_lanelet2_paths(
+ const std::vector<std::string> & lanelet2_paths_or_directory) const;
+ std::map<std::string, Lanelet2FileMetaData> get_lanelet2_metadata(
+ const std::string & lanelet2_metadata_path, const std::vector<std::string> & lanelet2_paths,
+ double & x_resolution, double & y_resolution) const;
+ std::map<std::string, Lanelet2FileMetaData> get_dummy_lanelet2_metadata(
+ const std::string & lanelet2_path,
+ const MapProjectorInfo::Message::ConstSharedPtr projection_info, double & x_resolution,
+ double & y_resolution);
};
#endif // MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
diff --git a/map/map_loader/include/map_loader/utils.hpp b/map/map_loader/include/map_loader/utils.hpp
new file mode 100644
index 0000000000000..bd1618d941dd6
--- /dev/null
+++ b/map/map_loader/include/map_loader/utils.hpp
@@ -0,0 +1,35 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MAP_LOADER__UTILS_HPP_
+#define MAP_LOADER__UTILS_HPP_
+
+#include <map>
+#include <string>
+#include <vector>
+
+struct Lanelet2FileMetaData
+{
+ std::string id;
+ double min_x;
+ double min_y;
+};
+
+std::map<std::string, Lanelet2FileMetaData> loadLanelet2Metadata(
+ const std::string & lanelet2_metadata_path, double & x_resolution, double & y_resolution);
+std::map<std::string, Lanelet2FileMetaData> replaceWithAbsolutePath(
+ const std::map<std::string, Lanelet2FileMetaData> & lanelet2_metadata_path,
+ const std::vector<std::string> & lanelet2_paths);
+
+#endif // MAP_LOADER__UTILS_HPP_
diff --git a/map/map_loader/schema/lanelet2_map_loader.schema.json b/map/map_loader/schema/lanelet2_map_loader.schema.json
index a55050e4ed570..adb35f2472b23 100644
--- a/map/map_loader/schema/lanelet2_map_loader.schema.json
+++ b/map/map_loader/schema/lanelet2_map_loader.schema.json
@@ -6,6 +6,11 @@
"lanelet2_map_loader": {
"type": "object",
"properties": {
+ "enable_differential_map_loading": {
+ "type": "boolean",
+ "description": "Flag to enable loading of differential map",
+ "default": "false"
+ },
"allow_unsupported_version": {
"type": "boolean",
"description": "Flag to load unsupported format_version anyway. If true, just prints warning.",
@@ -25,6 +30,26 @@
"type": "string",
"description": "The lanelet2 map path pointing to the .osm file",
"default": ""
+ },
+ "dummy_metadata.min_x": {
+ "type": "number",
+ "description": "When the dynamic map loading is true and the map is a single file, this is the minimum x value of the map",
+ "default": "0.0"
+ },
+ "dummy_metadata.min_y": {
+ "type": "number",
+ "description": "When the dynamic map loading is true and the map is a single file, this is the minimum y value of the map",
+ "default": "0.0"
+ },
+ "dummy_metadata.x_resolution": {
+ "type": "number",
+ "description": "When the dynamic map loading is true and the map is a single file, this is the resolution of the x axis",
+ "default": "100000.0"
+ },
+ "dummy_metadata.y_resolution": {
+ "type": "number",
+ "description": "When the dynamic map loading is true and the map is a single file, this is the resolution of the y axis",
+ "default": "100000.0"
}
},
"required": ["center_line_resolution", "use_waypoints", "lanelet2_map_path"],
diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp
new file mode 100644
index 0000000000000..8879ac372a463
--- /dev/null
+++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp
@@ -0,0 +1,155 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "map_loader/lanelet2_differential_loader_module.hpp"
+
+#include "lanelet2_local_projector.hpp"
+#include "map_loader/lanelet2_map_loader_node.hpp"
+
+Lanelet2DifferentialLoaderModule::Lanelet2DifferentialLoaderModule(
+ rclcpp::Node * node, const double & center_line_resolution)
+: logger_(node->get_logger()),
+ clock_(node->get_clock()),
+ center_line_resolution_(center_line_resolution)
+{
+ const auto metadata_adaptor = component_interface_utils::NodeAdaptor(node);
+ metadata_adaptor.init_pub(pub_lanelet_map_meta_data_);
+
+ get_differential_lanelet2_maps_service_ = node->create_service<GetDifferentialLanelet2Map>(
+ "service/get_differential_lanelet_map",
+ std::bind(
+ &Lanelet2DifferentialLoaderModule::onServiceGetDifferentialLanelet2Map, this,
+ std::placeholders::_1, std::placeholders::_2));
+}
+
+bool Lanelet2DifferentialLoaderModule::onServiceGetDifferentialLanelet2Map(
+ GetDifferentialLanelet2Map::Request::SharedPtr req,
+ GetDifferentialLanelet2Map::Response::SharedPtr res)
+{
+ std::vector<std::string> lanelet2_paths;
+ for (const auto & id : req->cell_ids) {
+ auto it = std::find_if(
+ lanelet2_file_metadata_dict_.begin(), lanelet2_file_metadata_dict_.end(),
+ [&id](const auto & file) { return file.second.id == id; });
+ if (it == lanelet2_file_metadata_dict_.end()) {
+ continue;
+ }
+ if (!std::filesystem::exists(it->first)) {
+ continue;
+ }
+ lanelet2_paths.push_back(it->first);
+ }
+ if (lanelet2_paths.empty()) {
+ RCLCPP_ERROR(logger_, "Failed to load differential lanelet2 map");
+ return false;
+ }
+
+ const auto map = differentialLanelet2Load(lanelet2_paths);
+ const auto map_bin_msg =
+ Lanelet2MapLoaderNode::create_map_bin_msg(map, lanelet2_paths[0], rclcpp::Clock().now());
+
+ res->lanelet2_cells = map_bin_msg;
+ res->header.frame_id = "map";
+
+ return true;
+}
+
+lanelet::LaneletMapPtr Lanelet2DifferentialLoaderModule::differentialLanelet2Load(
+ std::vector<std::string> & lanelet2_paths)
+{
+ if (projector_info_.value().projector_type != tier4_map_msgs::msg::MapProjectorInfo::LOCAL) {
+ std::unique_ptr<lanelet::Projector> projector =
+ autoware::geography_utils::get_lanelet2_projector(projector_info_.value());
+
+ lanelet::ErrorMessages errors{};
+ lanelet::io_handlers::MultiOsmParser parser(*projector);
+ lanelet::LaneletMapPtr map = parser.parse(lanelet2_paths, errors);
+
+ if (!errors.empty()) {
+ for (const auto & error : errors) {
+ RCLCPP_ERROR_STREAM(rclcpp::get_logger("map_loader"), error);
+ }
+ }
+
+ return map;
+ } else {
+ const lanelet::projection::LocalProjector projector;
+ lanelet::ErrorMessages errors{};
+ lanelet::io_handlers::MultiOsmParser parser(projector);
+ lanelet::LaneletMapPtr map = parser.parse(lanelet2_paths, errors);
+
+ if (!errors.empty()) {
+ for (const auto & error : errors) {
+ RCLCPP_ERROR_STREAM(rclcpp::get_logger("map_loader"), error);
+ }
+ }
+
+ // overwrite local_x, local_y
+ for (lanelet::Point3d point : map->pointLayer) {
+ if (point.hasAttribute("local_x")) {
+ point.x() = point.attribute("local_x").asDouble().value();
+ }
+ if (point.hasAttribute("local_y")) {
+ point.y() = point.attribute("local_y").asDouble().value();
+ }
+ }
+
+ // realign lanelet borders using updated points
+ for (lanelet::Lanelet lanelet : map->laneletLayer) {
+ auto left = lanelet.leftBound();
+ auto right = lanelet.rightBound();
+ std::tie(left, right) = lanelet::geometry::align(left, right);
+ lanelet.setLeftBound(left);
+ lanelet.setRightBound(right);
+ }
+
+ return map;
+ }
+}
+
+void Lanelet2DifferentialLoaderModule::setLaneletMapMetadata(
+ std::map<std::string, Lanelet2FileMetaData> & lanelet2_metadata_dict, double x_res, double y_res)
+{
+ lanelet2_file_metadata_dict_ = lanelet2_metadata_dict;
+
+ const auto msg = getLaneletMapMetaDataMsg(x_res, y_res);
+ pub_lanelet_map_meta_data_->publish(msg);
+}
+
+void Lanelet2DifferentialLoaderModule::setProjectionInfo(
+ const tier4_map_msgs::msg::MapProjectorInfo & projector_info)
+{
+ projector_info_ = projector_info;
+}
+
+autoware_map_msgs::msg::LaneletMapMetaData
+Lanelet2DifferentialLoaderModule::getLaneletMapMetaDataMsg(
+ const double & x_res, const double & y_res) const
+{
+ autoware_map_msgs::msg::LaneletMapMetaData metadata;
+ for (const auto & file : lanelet2_file_metadata_dict_) {
+ autoware_map_msgs::msg::LaneletMapCellMetaData cell_msg;
+ cell_msg.cell_id = file.second.id;
+ cell_msg.min_x = file.second.min_x;
+ cell_msg.min_y = file.second.min_y;
+ cell_msg.max_x = file.second.min_x + x_res;
+ cell_msg.max_y = file.second.min_y + y_res;
+
+ metadata.metadata_list.push_back(cell_msg);
+ }
+ metadata.header.frame_id = "map";
+ metadata.header.stamp = clock_->now();
+
+ return metadata;
+}
diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
index 9704b2ec68150..4a53524bb764a 100644
--- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
+++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
@@ -49,9 +49,28 @@
#include <lanelet2_io/Io.h>
#include <lanelet2_projection/UTM.h>
+#include <filesystem>
#include <stdexcept>
#include <string>
+namespace
+{
+bool isOsmFile(const std::string & f)
+{
+ if (std::filesystem::is_directory(f)) {
+ return false;
+ }
+
+ const std::string ext = std::filesystem::path(f).extension();
+
+ if (ext != ".osm" && ext != ".OSM") {
+ return false;
+ }
+
+ return true;
+}
+} // namespace
+
using autoware_map_msgs::msg::LaneletMapBin;
using tier4_map_msgs::msg::MapProjectorInfo;
@@ -69,21 +88,78 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
declare_parameter<std::string>("lanelet2_map_path");
declare_parameter<double>("center_line_resolution");
declare_parameter<bool>("use_waypoints");
+ declare_parameter<bool>("enable_differential_map_loading");
+
+ if (get_parameter("enable_differential_map_loading").as_bool()) {
+ differential_loader_module_ = std::make_unique<Lanelet2DifferentialLoaderModule>(
+ this, get_parameter("center_line_resolution").as_double());
+ }
}
void Lanelet2MapLoaderNode::on_map_projector_info(
const MapProjectorInfo::Message::ConstSharedPtr msg)
{
const auto allow_unsupported_version = get_parameter("allow_unsupported_version").as_bool();
- const auto lanelet2_filename = get_parameter("lanelet2_map_path").as_string();
+ auto lanelet2_filename = get_parameter("lanelet2_map_path").as_string();
const auto center_line_resolution = get_parameter("center_line_resolution").as_double();
const auto use_waypoints = get_parameter("use_waypoints").as_bool();
+ const auto enable_differential_map_loading =
+ get_parameter("enable_differential_map_loading").as_bool();
- // load map from file
- const auto map = load_map(lanelet2_filename, *msg);
- if (!map) {
- RCLCPP_ERROR(get_logger(), "Failed to load lanelet2_map. Not published.");
- return;
+ lanelet::LaneletMapPtr map;
+
+ if (!enable_differential_map_loading) {
+ map = load_map(lanelet2_filename, *msg);
+ if (!map) {
+ RCLCPP_ERROR(get_logger(), "Failed to load lanelet2_map. Not published.");
+ return;
+ }
+ } else {
+ RCLCPP_INFO(get_logger(), "Differential lanelet2 map loading is enabled.");
+
+ std::vector<std::string> lanelet2_paths_or_directory = {
+ get_parameter("lanelet2_map_path").as_string()};
+ std::string lanelet2_metadata_path =
+ declare_parameter<std::string>("lanelet2_map_metadata_path");
+ double x_resolution, y_resolution;
+
+ std::map<std::string, Lanelet2FileMetaData> lanelet2_metadata_dict;
+ if (std::filesystem::exists(lanelet2_metadata_path)) {
+ lanelet2_metadata_dict = get_lanelet2_metadata(
+ lanelet2_metadata_path, get_lanelet2_paths(lanelet2_paths_or_directory), x_resolution,
+ y_resolution);
+ } else {
+ if (lanelet2_paths_or_directory.size() == 1) {
+ // Create a dummy metadata for a single osm file
+ lanelet2_metadata_dict =
+ get_dummy_lanelet2_metadata(lanelet2_filename, msg, x_resolution, y_resolution);
+ } else {
+ throw std::runtime_error("Lanelet2 metadata file not found: " + lanelet2_metadata_path);
+ }
+ }
+
+ {
+ // set metadata and projection info to differential loader module
+ differential_loader_module_->setLaneletMapMetadata(
+ lanelet2_metadata_dict, x_resolution, y_resolution);
+ differential_loader_module_->setProjectionInfo(*msg);
+ }
+
+ {
+ // load whole map for once
+ std::vector<std::string> lanelet2_paths;
+ lanelet2_paths.reserve(lanelet2_metadata_dict.size());
+ for (const auto & [lanelet2_path, _] : lanelet2_metadata_dict) {
+ lanelet2_paths.push_back(lanelet2_path);
+ }
+ map = differential_loader_module_->differentialLanelet2Load(lanelet2_paths);
+ }
+ lanelet2_filename =
+ lanelet2_metadata_dict.begin()
+ ->first; // TODO(StepTurtle): find better way: `parseVersions` function read the osm
+ // file to get map version info, so `lanelet2_filename` should
+ // be osm file path, it changes `lanelet2_filename` hard coded.
+ // Because of this, `lanelet2_filename` can't be const in line 103.
}
std::string format_version{"null"}, map_version{""};
@@ -200,5 +276,65 @@ LaneletMapBin Lanelet2MapLoaderNode::create_map_bin_msg(
return map_bin_msg;
}
+std::vector<std::string> Lanelet2MapLoaderNode::get_lanelet2_paths(
+ const std::vector<std::string> & lanelet2_paths_or_directory) const
+{
+ std::vector<std::string> lanelet2_paths;
+ for (const auto & path : lanelet2_paths_or_directory) {
+ if (!std::filesystem::exists(path)) {
+ RCLCPP_ERROR_STREAM(get_logger(), "No such file or directory: " << path);
+ continue;
+ }
+
+ if (isOsmFile(path)) {
+ lanelet2_paths.push_back(path);
+ }
+
+ if (std::filesystem::is_directory(path)) {
+ for (const auto & file : std::filesystem::directory_iterator(path)) {
+ const auto filename = file.path().string();
+ if (isOsmFile(filename)) {
+ lanelet2_paths.push_back(filename);
+ }
+ }
+ }
+ }
+ return lanelet2_paths;
+}
+
+std::map<std::string, Lanelet2FileMetaData> Lanelet2MapLoaderNode::get_lanelet2_metadata(
+ const std::string & lanelet2_metadata_path, const std::vector<std::string> & lanelet2_paths,
+ double & x_resolution, double & y_resolution) const
+{
+ std::map<std::string, Lanelet2FileMetaData> lanelet2_metadata_dict;
+ lanelet2_metadata_dict = loadLanelet2Metadata(lanelet2_metadata_path, x_resolution, y_resolution);
+ lanelet2_metadata_dict = replaceWithAbsolutePath(lanelet2_metadata_dict, lanelet2_paths);
+ RCLCPP_INFO_STREAM(get_logger(), "Loaded Lanelet2 metadata: " << lanelet2_metadata_path);
+
+ return lanelet2_metadata_dict;
+}
+
+std::map<std::string, Lanelet2FileMetaData> Lanelet2MapLoaderNode::get_dummy_lanelet2_metadata(
+ const std::string & lanelet2_path,
+ const MapProjectorInfo::Message::ConstSharedPtr projection_info, double & x_resolution,
+ double & y_resolution)
+{
+ const auto map = load_map(lanelet2_path, *projection_info);
+
+ declare_parameter<double>("dummy_metadata.min_x");
+ declare_parameter<double>("dummy_metadata.min_y");
+ declare_parameter<double>("dummy_metadata.x_resolution");
+ declare_parameter<double>("dummy_metadata.y_resolution");
+
+ Lanelet2FileMetaData tile;
+ tile.id = "0";
+ tile.min_x = get_parameter("dummy_metadata.min_x").as_double();
+ tile.min_y = get_parameter("dummy_metadata.min_y").as_double();
+ x_resolution = get_parameter("dummy_metadata.x_resolution").as_double();
+ y_resolution = get_parameter("dummy_metadata.y_resolution").as_double();
+
+ return std::map<std::string, Lanelet2FileMetaData>{{lanelet2_path, tile}};
+}
+
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(Lanelet2MapLoaderNode)
diff --git a/map/map_loader/src/lanelet2_map_loader/utils.cpp b/map/map_loader/src/lanelet2_map_loader/utils.cpp
new file mode 100644
index 0000000000000..acc4498d53607
--- /dev/null
+++ b/map/map_loader/src/lanelet2_map_loader/utils.cpp
@@ -0,0 +1,65 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "map_loader/utils.hpp"
+
+#include <yaml-cpp/yaml.h>
+
+std::map<std::string, Lanelet2FileMetaData> loadLanelet2Metadata(
+ const std::string & lanelet2_metadata_path, double & x_resolution, double & y_resolution)
+{
+ YAML::Node config = YAML::LoadFile(lanelet2_metadata_path);
+
+ std::map<std::string, Lanelet2FileMetaData> lanelet2_metadata;
+
+ x_resolution = config["x_resolution"].as<double>();
+ y_resolution = config["y_resolution"].as<double>();
+
+ for (const auto & node : config) {
+ if (
+ node.first.as<std::string>() == "x_resolution" ||
+ node.first.as<std::string>() == "y_resolution") {
+ continue;
+ }
+
+ auto key = node.first.as<std::string>();
+
+ Lanelet2FileMetaData metadata;
+ std::stringstream(
+ node.first.as<std::string>().substr(0, node.first.as<std::string>().find('.'))) >>
+ metadata.id;
+ metadata.min_x = node.second.as<std::vector<double>>()[0];
+ metadata.min_y = node.second.as<std::vector<double>>()[1];
+
+ lanelet2_metadata[key] = metadata;
+ }
+
+ return lanelet2_metadata;
+}
+
+std::map<std::string, Lanelet2FileMetaData> replaceWithAbsolutePath(
+ const std::map<std::string, Lanelet2FileMetaData> & lanelet2_metadata_path,
+ const std::vector<std::string> & lanelet2_paths)
+{
+ std::map<std::string, Lanelet2FileMetaData> absolute_path_map;
+ for (const auto & path : lanelet2_paths) {
+ std::string filename = path.substr(path.find_last_of("/\\") + 1);
+ auto it = lanelet2_metadata_path.find(filename);
+ if (it != lanelet2_metadata_path.end()) {
+ absolute_path_map[path] = it->second;
+ }
+ }
+
+ return absolute_path_map;
+}
From aafe0c2c0ac40f333c382ca905445645111dcfb1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= <baris@leodrive.ai>
Date: Mon, 26 Aug 2024 13:14:32 +0300
Subject: [PATCH 02/15] fix: json schema check
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Signed-off-by: Barış Zeren <baris@leodrive.ai>
---
.../schema/lanelet2_map_loader.schema.json | 44 +++++++++++--------
1 file changed, 25 insertions(+), 19 deletions(-)
diff --git a/map/map_loader/schema/lanelet2_map_loader.schema.json b/map/map_loader/schema/lanelet2_map_loader.schema.json
index adb35f2472b23..f72b606b7a3e4 100644
--- a/map/map_loader/schema/lanelet2_map_loader.schema.json
+++ b/map/map_loader/schema/lanelet2_map_loader.schema.json
@@ -31,25 +31,31 @@
"description": "The lanelet2 map path pointing to the .osm file",
"default": ""
},
- "dummy_metadata.min_x": {
- "type": "number",
- "description": "When the dynamic map loading is true and the map is a single file, this is the minimum x value of the map",
- "default": "0.0"
- },
- "dummy_metadata.min_y": {
- "type": "number",
- "description": "When the dynamic map loading is true and the map is a single file, this is the minimum y value of the map",
- "default": "0.0"
- },
- "dummy_metadata.x_resolution": {
- "type": "number",
- "description": "When the dynamic map loading is true and the map is a single file, this is the resolution of the x axis",
- "default": "100000.0"
- },
- "dummy_metadata.y_resolution": {
- "type": "number",
- "description": "When the dynamic map loading is true and the map is a single file, this is the resolution of the y axis",
- "default": "100000.0"
+ "dummy_metadata": {
+ "type": "object",
+ "properties": {
+ "min_x": {
+ "type": "number",
+ "description": "When the dynamic map loading is true and the map is a single file, this is the minimum x value of the map",
+ "default": "0.0"
+ },
+ "min_y": {
+ "type": "number",
+ "description": "When the dynamic map loading is true and the map is a single file, this is the minimum y value of the map",
+ "default": "0.0"
+ },
+ "x_resolution": {
+ "type": "number",
+ "description": "When the dynamic map loading is true and the map is a single file, this is the resolution of the x axis",
+ "default": "100000.0"
+ },
+ "y_resolution": {
+ "type": "number",
+ "description": "When the dynamic map loading is true and the map is a single file, this is the resolution of the y axis",
+ "default": "100000.0"
+ }
+ },
+ "required": ["min_x", "min_y", "x_resolution", "y_resolution"]
}
},
"required": ["center_line_resolution", "use_waypoints", "lanelet2_map_path"],
From 9ae9485ad8e0ce6b8d4ee77a128c1f54de14365e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= <baris@leodrive.ai>
Date: Tue, 27 Aug 2024 15:15:26 +0300
Subject: [PATCH 03/15] fix: add region check
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Signed-off-by: Barış Zeren <baris@leodrive.ai>
---
.../src/dynamic_lanelet_provider.cpp | 14 ++++++++++++++
1 file changed, 14 insertions(+)
diff --git a/map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp b/map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp
index ccead1380ccfe..2b076da9430d0 100644
--- a/map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp
+++ b/map/autoware_dynamic_lanelet_provider/src/dynamic_lanelet_provider.cpp
@@ -53,6 +53,15 @@ double norm_xy(const T & p1, const U & p2)
return std::hypot(dx, dy);
}
+template <typename T>
+bool is_inside_region(
+ const double & min_x, const double & max_x, const double & min_y, const double & max_y,
+ const T & point)
+{
+ return min_x <= getX(point) && getX(point) <= max_x && min_y <= getY(point) &&
+ getY(point) <= max_y;
+}
+
DynamicLaneletProviderNode::DynamicLaneletProviderNode(const rclcpp::NodeOptions & options)
: Node("dynamic_lanelet_provider", options),
map_frame_("map"),
@@ -129,6 +138,11 @@ void DynamicLaneletProviderNode::updateMap(const geometry_msgs::msg::Point & pos
point.x = (metadata.min_x + metadata.max_x) / 2;
point.y = (metadata.min_y + metadata.max_y) / 2;
+ if (is_inside_region(metadata.min_x, metadata.max_x, metadata.min_y, metadata.max_y, pose)) {
+ cache_ids.push_back(metadata.id);
+ continue;
+ }
+
double distance = norm_xy(point, pose);
if (distance < dynamic_map_loading_map_radius_) {
cache_ids.push_back(metadata.id);
From beb7fafd1cd88b4d4a5c573b6789e7f106b79368 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= <baris@leodrive.ai>
Date: Tue, 3 Sep 2024 14:50:56 +0300
Subject: [PATCH 04/15] chore: make `enable_differential_loading` default
`true`
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Signed-off-by: Barış Zeren <baris@leodrive.ai>
---
map/map_loader/config/lanelet2_map_loader.param.yaml | 2 +-
map/map_loader/schema/lanelet2_map_loader.schema.json | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/map/map_loader/config/lanelet2_map_loader.param.yaml b/map/map_loader/config/lanelet2_map_loader.param.yaml
index 412f6ec1d2375..2fe25e8568dae 100755
--- a/map/map_loader/config/lanelet2_map_loader.param.yaml
+++ b/map/map_loader/config/lanelet2_map_loader.param.yaml
@@ -1,6 +1,6 @@
/**:
ros__parameters:
- enable_differential_map_loading: false # flag to enable loading of differential map
+ enable_differential_map_loading: $(var enable_differential_map_loading) # flag to enable loading of differential map
allow_unsupported_version: true # flag to load unsupported format_version anyway. If true, just prints warning.
center_line_resolution: 5.0 # [m]
use_waypoints: true # "centerline" in the Lanelet2 map will be used as a "waypoints" tag.
diff --git a/map/map_loader/schema/lanelet2_map_loader.schema.json b/map/map_loader/schema/lanelet2_map_loader.schema.json
index f72b606b7a3e4..62bf97afab395 100644
--- a/map/map_loader/schema/lanelet2_map_loader.schema.json
+++ b/map/map_loader/schema/lanelet2_map_loader.schema.json
@@ -9,7 +9,7 @@
"enable_differential_map_loading": {
"type": "boolean",
"description": "Flag to enable loading of differential map",
- "default": "false"
+ "default": "true"
},
"allow_unsupported_version": {
"type": "boolean",
From af9ec44640a98983cbff55a679297cf7faf32839 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= <baris@leodrive.ai>
Date: Tue, 3 Sep 2024 15:18:56 +0300
Subject: [PATCH 05/15] fix: json schema check
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Signed-off-by: Barış Zeren <baris@leodrive.ai>
---
map/map_loader/schema/lanelet2_map_loader.schema.json | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/map/map_loader/schema/lanelet2_map_loader.schema.json b/map/map_loader/schema/lanelet2_map_loader.schema.json
index 62bf97afab395..c4ebaef68df62 100644
--- a/map/map_loader/schema/lanelet2_map_loader.schema.json
+++ b/map/map_loader/schema/lanelet2_map_loader.schema.json
@@ -7,7 +7,7 @@
"type": "object",
"properties": {
"enable_differential_map_loading": {
- "type": "boolean",
+ "type": "string",
"description": "Flag to enable loading of differential map",
"default": "true"
},
From 999e02314411b173ae659dc065c3846cb13500f5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= <baris@leodrive.ai>
Date: Thu, 5 Sep 2024 12:04:10 +0300
Subject: [PATCH 06/15] chore: update maintainers
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Signed-off-by: Barış Zeren <baris@leodrive.ai>
---
map/autoware_dynamic_lanelet_provider/package.xml | 10 ++++++++--
1 file changed, 8 insertions(+), 2 deletions(-)
diff --git a/map/autoware_dynamic_lanelet_provider/package.xml b/map/autoware_dynamic_lanelet_provider/package.xml
index 54ba9c59702be..6de0e1842bd74 100644
--- a/map/autoware_dynamic_lanelet_provider/package.xml
+++ b/map/autoware_dynamic_lanelet_provider/package.xml
@@ -4,9 +4,15 @@
<name>autoware_dynamic_lanelet_provider</name>
<version>0.1.0</version>
<description>Dynamic map provider package</description>
- <maintainer email="baris@leodrive.ai">bzeren</maintainer>
+ <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
+ <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
+ <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
+ <maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>
+ <maintainer email="taiki.yamada@tier4.jp">Taiki Yamada</maintainer>
+ <maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
+ <maintainer email="baris@leodrive.ai">Barış Zeren</maintainer>
<license>Apache License 2.0</license>
- <author email="baris@leodrive.ai">bzeren</author>
+ <author email="baris@leodrive.ai">Barış Zeren</author>
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>
From 8308c18191f10d28a0620b4c7729b98a55dcb377 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= <baris@leodrive.ai>
Date: Sat, 7 Sep 2024 18:59:17 +0300
Subject: [PATCH 07/15] chore: update map_loader documentation
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Signed-off-by: Barış Zeren <baris@leodrive.ai>
---
map/map_loader/README.md | 81 +++++++++++++++++++++++++++++++++++++++-
1 file changed, 80 insertions(+), 1 deletion(-)
diff --git a/map/map_loader/README.md b/map/map_loader/README.md
index 92f7668c4d774..1e3c564e44d86 100644
--- a/map/map_loader/README.md
+++ b/map/map_loader/README.md
@@ -130,9 +130,75 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co
### Feature
-lanelet2_map_loader loads Lanelet2 file and publishes the map data as autoware_map_msgs/LaneletMapBin message.
+`lanelet2_map_loader` loads Lanelet2 file(s) and publishes the map data as `autoware_map_msgs/LaneletMapBin` message.
The node projects lan/lon coordinates into arbitrary coordinates defined in `/map/map_projector_info` from `map_projection_loader`.
Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_map_msgs/msg/MapProjectorInfo.msg) for supported projector types.
+lanelet2_map_loader provides Lanelet2 maps in two different configurations:
+
+- It loads single Lanelet2 file and publishes the map data as `autoware_map_msgs/LaneletMapBin` message.
+- It loads multiple Lanelet2 files differentially via ROS 2 service.
+
+NOTE: **If you work on large scale area, we recommend to use differential loading feature to avoid the time-consuming
+in various nodes that use the Lanelet2 map data.**
+
+### Prerequisites
+
+#### Prerequisites on Lanelet2 map file(s)
+
+You may provide either a single `.osm` file or multiple `.osm` files. If you are using multiple OSM file,
+it MUST obey the following rules:
+
+1. **The `.osm` files should all be within the same MGRS grid**. The system does not support loading multiple `.osm` files from different MGRS grids.
+2. **It must be divided by straight lines parallel to the x-axis and y-axis**. The system does not support division by diagonal lines or curved lines.
+3. **Metadata file should also be provided.** The metadata structure description is provided below.
+
+#### Metadata structure
+
+The metadata should look like this:
+
+```yaml
+x_resolution: 20.0
+y_resolution: 20.0
+A.osm: [1200, 2500] # -> 1200 < x < 1220, 2500 < y < 2520
+B.osm: [1220, 2500] # -> 1220 < x < 1240, 2500 < y < 2520
+C.osm: [1200, 2520] # -> 1200 < x < 1220, 2520 < y < 2540
+D.osm: [1240, 2520] # -> 1240 < x < 1260, 2520 < y < 2540
+```
+
+
+where,
+
+- `x_resolution` and `y_resolution` are the resolution of the map in meters.
+- `A.osm`, `B.osm`, etc, are the names of OSM files.
+- List such as `[1200, 2500]` are the values indicate that for this OSM file, x coordinates are between 1200 and 1220 (`x_resolution` + `x_coordinate`) and y coordinates are between 2500 and 2520 (`y_resolution` + `y_coordinate`).
+
+You may use [lanelet2_map_tile_generator](https://github.com/leo-drive/lanelet2-map-tile-generator) from LeoDrive for
+dividing Lanelet2 map as well as generating the compatible metadata.yaml.
+
+#### Directory structure of these files
+
+If you only have one Lanelet2 map, Autoware will assume the following directory structure by default.
+
+```bash
+sample-map-rosbag
+├── lanelet2_map.osm
+├── pointcloud_map.pcd
+```
+
+If you have multiple Lanelet2 maps, an example directory structure would be as follows. Note that you need to have a metadata when you have multiple Lanelet2 map files.
+
+```bash
+sample-map-rosbag
+├── pointcloud_map.pcd
+├── lanelet2_map.osm
+│ ├── A.osm
+│ ├── B.osm
+│ ├── C.osm
+│ └── ...
+├── map_projector_info.yaml
+├── lanelet2_map_metadata.yaml
+└── ...
+```
### How to run
@@ -144,8 +210,21 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie
### Published Topics
+If you use single Lanelet2 map file:
+
- ~output/lanelet2_map (autoware_map_msgs/LaneletMapBin) : Binary data of loaded Lanelet2 Map
+If you use multiple Lanelet2 map files:
+
+- ~output/dynamic_lanelet2_map (autoware_map_msgs/LaneletMapBin) : Binary data of loaded Lanelet2 Map
+- ~output/lanelet_map_meta_data (autoware_map_msgs/msg/LaneletMapMetaData) : Metadata of Lanelet2 Map
+
+### Services
+
+If you use multiple Lanelet2 map files:
+
+- ~service/get_differential_lanelet_map (autoware_map_msgs/srv/GetSelectedLanelet2Map) : Differential loading of Lanelet2 Map
+
### Parameters
{{ json_to_markdown("map/map_loader/schema/lanelet2_map_loader.schema.json") }}
From 585efcae15152aa6b76c8cd98fe82abdd9b4af8d Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Sat, 7 Sep 2024 16:01:21 +0000
Subject: [PATCH 08/15] style(pre-commit): autofix
---
map/map_loader/README.md | 1 -
1 file changed, 1 deletion(-)
diff --git a/map/map_loader/README.md b/map/map_loader/README.md
index 1e3c564e44d86..9caf736c1dc56 100644
--- a/map/map_loader/README.md
+++ b/map/map_loader/README.md
@@ -165,7 +165,6 @@ C.osm: [1200, 2520] # -> 1200 < x < 1220, 2520 < y < 2540
D.osm: [1240, 2520] # -> 1240 < x < 1260, 2520 < y < 2540
```
-
where,
- `x_resolution` and `y_resolution` are the resolution of the map in meters.
From 4bbefcbaf92c0979c8e28f14a675ca289beacac0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= <baris@leodrive.ai>
Date: Mon, 9 Sep 2024 11:40:33 +0300
Subject: [PATCH 09/15] chore: autoware_dynamic_lanelet_provider `README.md`
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Signed-off-by: Barış Zeren <baris@leodrive.ai>
---
map/autoware_dynamic_lanelet_provider/README.md | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/map/autoware_dynamic_lanelet_provider/README.md b/map/autoware_dynamic_lanelet_provider/README.md
index f88534ae6bb93..5038bc5f3526b 100644
--- a/map/autoware_dynamic_lanelet_provider/README.md
+++ b/map/autoware_dynamic_lanelet_provider/README.md
@@ -26,7 +26,7 @@ for more information about the divided lanelet map and the metadata file.
| --------------------- | -------------------------------------------- | -------------------------- |
| `output/lanelet2_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | dynamic Lanelet2 map topic |
-### Service
+### Client
| Name | Type | Description |
| -------------------------------------- | ------------------------------------------------ | ------------------------------------------ |
From 681b8871e7b6ce0195c066906333a97208af3532 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= <baris@leodrive.ai>
Date: Mon, 9 Sep 2024 11:41:00 +0300
Subject: [PATCH 10/15] chore: update map_loader `README.md`
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Signed-off-by: Barış Zeren <baris@leodrive.ai>
---
map/map_loader/README.md | 1 -
1 file changed, 1 deletion(-)
diff --git a/map/map_loader/README.md b/map/map_loader/README.md
index 9caf736c1dc56..a5c17291fe3cc 100644
--- a/map/map_loader/README.md
+++ b/map/map_loader/README.md
@@ -215,7 +215,6 @@ If you use single Lanelet2 map file:
If you use multiple Lanelet2 map files:
-- ~output/dynamic_lanelet2_map (autoware_map_msgs/LaneletMapBin) : Binary data of loaded Lanelet2 Map
- ~output/lanelet_map_meta_data (autoware_map_msgs/msg/LaneletMapMetaData) : Metadata of Lanelet2 Map
### Services
From 6232b70e6559a8fff9da0a3ec7be95f08c97c9ea Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?=
<76053179+StepTurtle@users.noreply.github.com>
Date: Thu, 26 Sep 2024 14:50:49 +0300
Subject: [PATCH 11/15] Update dependencies
Co-authored-by: Yamato Ando <yamato.ando@gmail.com>
---
map/autoware_dynamic_lanelet_provider/package.xml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/map/autoware_dynamic_lanelet_provider/package.xml b/map/autoware_dynamic_lanelet_provider/package.xml
index 6de0e1842bd74..b743388fedc72 100644
--- a/map/autoware_dynamic_lanelet_provider/package.xml
+++ b/map/autoware_dynamic_lanelet_provider/package.xml
@@ -21,7 +21,7 @@
<depend>autoware_map_msgs</depend>
<depend>component_interface_specs</depend>
<depend>component_interface_utils</depend>
- <depend>geography_utils</depend>
+ <depend>autoware_geography_utils</depend>
<export>
<build_type>ament_cmake</build_type>
From 28ad0489266ecc3c0291d854319514d86f447971 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Thu, 26 Sep 2024 11:53:01 +0000
Subject: [PATCH 12/15] style(pre-commit): autofix
---
map/autoware_dynamic_lanelet_provider/package.xml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/map/autoware_dynamic_lanelet_provider/package.xml b/map/autoware_dynamic_lanelet_provider/package.xml
index b743388fedc72..1d7a7ea4e9785 100644
--- a/map/autoware_dynamic_lanelet_provider/package.xml
+++ b/map/autoware_dynamic_lanelet_provider/package.xml
@@ -18,10 +18,10 @@
<buildtool_depend>autoware_cmake</buildtool_depend>
<depend>autoware_auto_mapping_msgs</depend>
+ <depend>autoware_geography_utils</depend>
<depend>autoware_map_msgs</depend>
<depend>component_interface_specs</depend>
<depend>component_interface_utils</depend>
- <depend>autoware_geography_utils</depend>
<export>
<build_type>ament_cmake</build_type>
From 0fc1e77ea2cbc393449e4bcb5e7b8eece007a37f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?=
<76053179+StepTurtle@users.noreply.github.com>
Date: Fri, 27 Sep 2024 10:45:31 +0300
Subject: [PATCH 13/15] fix: wrong msg type in README.md
Co-authored-by: Yamato Ando <yamato.ando@gmail.com>
---
map/autoware_dynamic_lanelet_provider/README.md | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/map/autoware_dynamic_lanelet_provider/README.md b/map/autoware_dynamic_lanelet_provider/README.md
index 5038bc5f3526b..b0f5b4a5c78c3 100644
--- a/map/autoware_dynamic_lanelet_provider/README.md
+++ b/map/autoware_dynamic_lanelet_provider/README.md
@@ -24,7 +24,7 @@ for more information about the divided lanelet map and the metadata file.
| Name | Type | Description |
| --------------------- | -------------------------------------------- | -------------------------- |
-| `output/lanelet2_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | dynamic Lanelet2 map topic |
+| `output/lanelet2_map` | `autoware_map_msgs::msg::LaneletMapBin` | dynamic Lanelet2 map topic |
### Client
From 65e382c0c7e2612765cf3a9feb4a57281ff82567 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?=
<76053179+StepTurtle@users.noreply.github.com>
Date: Fri, 27 Sep 2024 10:45:55 +0300
Subject: [PATCH 14/15] chore: remove unused dep.
Co-authored-by: Yamato Ando <yamato.ando@gmail.com>
---
map/autoware_dynamic_lanelet_provider/package.xml | 1 -
1 file changed, 1 deletion(-)
diff --git a/map/autoware_dynamic_lanelet_provider/package.xml b/map/autoware_dynamic_lanelet_provider/package.xml
index 1d7a7ea4e9785..7e73bc85d74de 100644
--- a/map/autoware_dynamic_lanelet_provider/package.xml
+++ b/map/autoware_dynamic_lanelet_provider/package.xml
@@ -17,7 +17,6 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>
- <depend>autoware_auto_mapping_msgs</depend>
<depend>autoware_geography_utils</depend>
<depend>autoware_map_msgs</depend>
<depend>component_interface_specs</depend>
From 2ad7615787c67c4ca53bce16f98142a144fb79b8 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Fri, 27 Sep 2024 07:47:47 +0000
Subject: [PATCH 15/15] style(pre-commit): autofix
---
map/autoware_dynamic_lanelet_provider/README.md | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/map/autoware_dynamic_lanelet_provider/README.md b/map/autoware_dynamic_lanelet_provider/README.md
index b0f5b4a5c78c3..2273bfa249530 100644
--- a/map/autoware_dynamic_lanelet_provider/README.md
+++ b/map/autoware_dynamic_lanelet_provider/README.md
@@ -22,8 +22,8 @@ for more information about the divided lanelet map and the metadata file.
### Output
-| Name | Type | Description |
-| --------------------- | -------------------------------------------- | -------------------------- |
+| Name | Type | Description |
+| --------------------- | --------------------------------------- | -------------------------- |
| `output/lanelet2_map` | `autoware_map_msgs::msg::LaneletMapBin` | dynamic Lanelet2 map topic |
### Client