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feat(map): add dynamic lanelet loading parameters #872

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feat(map): add dynamic lanelet loading parameters #872

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1f4e0e5
Add dynamic lanelet loading parameters
StepTurtle Feb 12, 2024
1e441a6
Remove unused params
StepTurtle Mar 1, 2024
0a44501
update
StepTurtle Jun 6, 2024
5b9b063
update
StepTurtle Jun 6, 2024
3887308
update
StepTurtle Jul 16, 2024
7de39d5
fix: wrong param name
Aug 26, 2024
52b53b4
chore: read dummy values from config
Aug 26, 2024
8c88614
style(pre-commit): autofix
pre-commit-ci[bot] Aug 26, 2024
4f145e2
chore: make `enable_differential_loading` default `true`
Sep 3, 2024
020034b
Merge branch 'main' into feat/add_dynamic_lanelet_loading
YamatoAndo Sep 24, 2024
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4 changes: 4 additions & 0 deletions autoware_launch/config/map/dynamic_lanelet_provider.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
/**:
ros__parameters:
dynamic_map_loading_update_distance: 100.0 # [m]
dynamic_map_loading_map_radius: 200.0 # [m]
6 changes: 6 additions & 0 deletions autoware_launch/config/map/lanelet2_map_loader.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,12 @@
/**:
ros__parameters:
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.
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
6 changes: 6 additions & 0 deletions autoware_launch/launch/components/tier4_map_component.launch.xml
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@@ -1,13 +1,19 @@
<?xml version="1.0"?>
<launch>
<arg name="enable_differential_map_loading" default="true"/>

<include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.xml">
<arg name="enable_differential_map_loading" value="$(var enable_differential_map_loading)"/>

<arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
<arg name="pointcloud_map_metadata_path" value="$(var map_path)/pointcloud_map_metadata.yaml"/>
<arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
<arg name="lanelet2_map_metadata_path" value="$(var map_path)/lanelet2_map_metadata.yaml"/>
<arg name="map_projector_info_path" value="$(var map_path)/map_projector_info.yaml"/>

<arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
<arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>
<arg name="dynamic_lanelet_provider_param_path" value="$(find-pkg-share autoware_launch)/config/map/dynamic_lanelet_provider.param.yaml"/>
<arg name="map_tf_generator_param_path" value="$(find-pkg-share autoware_launch)/config/map/map_tf_generator.param.yaml"/>
<arg name="map_projection_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/map_projection_loader.param.yaml"/>
</include>
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2 changes: 2 additions & 0 deletions autoware_launch/launch/components/tier4_planning_component.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,14 @@
<!-- NOTE: optional parameters are written here -->
<arg name="module_preset" default="default"/>
<arg name="enable_all_modules_auto_mode" default="false"/>
<arg name="enable_differential_map_loading" default="false"/>
<arg name="is_simulation" default="false"/>
<include file="$(find-pkg-share autoware_launch)/config/planning/preset/$(var module_preset)_preset.yaml"/>

<include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="enable_differential_map_loading" value="$(var enable_differential_map_loading)"/>
<arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
<arg name="is_simulation" value="$(var is_simulation)"/>

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