How to run the entire pipeline with my own map.

[JarvisLee0423]

Hi,
I want to know whether can I run the whole simulation pipeline with my own roadrunner map? Currently, I finished drawing the road runner map and successfully imported it into the carla 0.9.15 in ubuntu 22.04. After that, I have reconstructed the pcd map by some slam algorithm in the carla. Therefore, now I got my own carla map and pcd map. I see for the autoware, the op_agent need two other files, one called osm and the other called projector yaml. However, after I drawing my own osm file and projector yaml below, and copy these two files with pcd into the map folder in op_agent. The localization between autoware and carla is not consistent. Could you tell me how can I successfully complete the whole simulation in carla and autoware with my own map, just like the example map Town03?
Thanks a lot.

I attached the comparison between the osm and projector yaml of default Town03 and my own map for your convenience.

[hatem-darweesh]

Check the answer of the other issue.

hatem-darweesh/op_bridge#31

You need to convert to OpenDRIVE to Lanelet2 not just OSM, and this conversion must include local Cartesian coordinates (used by autoware).