Pointcloud map and vector map for the latest Autoware

[Kim-mins]

Hi team,

I'm currently trying to run the latest Autoware, but I got stuck in some issue.
With the maps by Hatem, I could see that the map is not loaded well as the image below:

I've never experienced this issue when I run the prebuilt version of Autoware installed in docker image, but I'm suffering this error on the latest one.

So, I want to ask if there's any available tool for generating pointcloud map and vector map for Autoware.
I'm currently running Autoware on Carla, but I cannot find any of the source for the maps.
Or is there any generated map suitable for the latest Autoware?

Thanks in advance!

[RogerJung]

Hello, I am facing a similar problem currently.

Here is a helpful toolkit implemented by Tier4: https://tools.tier4.jp/vector_map_builder_ll2/

But I met another problem when I tried to import the .pcd file in Carla/HDMaps/TownXX.pcd

It looks like a point cloud format error, but I haven't found a solution to solve it.

[Kim-mins]

Well, I already tried the tool you mentioned and I also faced the same issue.
But when I loaded the map here(Nishishinjuku), I could successfully load the map.
I don't know why, but it seems like, for Carla maps, there were some errors on conversion process or the conversion program makes somewhat incomplete map. (but I cannot sure since I do not have any access to the program)

[mitsudome-r]

Vector Map Builder doesn't support binary-compressed format at the moment.
Try converting your PCD file to either binary or ascii format.

If you are using Ubuntu, run the following commands in your terminal to convert

sudo apt install pcl-tools
pcl_convert_pcd_ascii_binary pointcloud_map.pcd pointcloud_map_binary.pcd 1

[Kim-mins]

Thank you @mitsudome-r! Now I can load .pcd map on the Vector Map Builder!
By the way, I have one question regarding the map builder tool.
I want to generate open street map file (lanelet2) for Autoware and I wonder if the map builder tool could help to generate it.
If not, do you have any recommendations for me for generating open street map?

Thank you in advance!

[mitsudome-r]

@Kim-mins
Vector Map Builder is the tool is to create the lanelet2 map. You can manually draw lanes, polygons, and all other traffic rule annotation using the tool. Check out the following pages to learn how to use the tool:

• Introduction to the tool: https://docs.web.auto/en/user-manuals/vector-map-builder/introduction
• Creating a lanelet2 map file: https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-a-new-lanelet2-map
• Drawing lanes: https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-lanelet

[Kim-mins]

Thank you for providing guidelines @mitsudome-r!!
Actually, I wonder if there's a tool for generating .osm file automatically(from .pcd file or .xodr file), since I'm not that familiar with lanelet file.
Following your suggestion, I also tried to open Town1.osm and modify it on Vector Map Builder, since it does not contain any information regarding traffic lights, stop lines, but it fails while loading the map with the error below. Could you please tell me anything you know about it? (lanelet2_map (1).osm is the lanelet2 file name)

[evshary]

Based on the question, is there any documentation about the change in the Autoware map format?
I can use the Carla map in Autoware 2023.02 version, but failed to use the same map in 2023.06.
I guess this is because of the change in the Autoware map format requirement. Does anyone have any idea about it?

[mitsudome-r]

@evshary There were changes in a parameter in map_loader package to handle georeference information from this PR.
If you are launch a launch file in autware_launch package, try changing projector type to local in this file.

By the way, is there a link for PCD maps? The link posted in the original question doesn't seem to contain the PCD maps. I might be able to help more if I have the access to PCD map as well.

[evshary]

@mitsudome-r Really thanks for your help! I'll check the projector type.
Here is the lanelet2 and the PCD map files from Hatem's package.
lanelet2: https://drive.google.com/drive/folders/1cQxiEteKMwZQZSHuotd4Bw1smzfOG67k
PCD: https://drive.google.com/drive/folders/1I30AqkGveeWOc3jCzdkWsz9J6w1fkt9v
I used the Town01, but all the maps have the same issue.

[mitsudome-r]

@evshary I just tried your map after changing the parameter as I explained in my previous comment, and I was able to run the planning_simulator demo.

[evshary]

Thank you, @mitsudome-r
It works well. Your solution helps me a lot!

[Akhilvinayak-16]

Hi, i have tried to use the Hatem map in autoware. but when i tried to change the settings (lanelet2_map_projector_type) there is no option to change the type to local i have searched the lanelet2_map_loader.param.yaml file but it only has two parameters center line resolution and lanelet3 map path there is no option to change projection type. If possible please help me as i need to use the map for my research
Thank you