autoware_lanelet2_map_visualizer package

This package provides the features of visualizing the lanelet2 maps.

lanelet2_map_visualization

Feature

lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray.

How to Run

ros2 run autoware_lanelet2_map_visualizer lanelet2_map_visualization

Subscribed Topics

• ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map

Published Topics

• ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz

Changelog for package autoware_lanelet2_map_visualizer

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0
• feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (#9392)
• refactor(map_loader)!: prefix package and namespace with autoware (#8927)
  • make lanelet2_map_visualization independent
  • remove unused files
  • remove unused package
  • fix package name
  • add autoware_ prefix
  • add autoware to exec name
  • add autoware prefix

  * removed unnecessary dependency ---------

• refactor(map_loader)!: prefix package and namespace with autoware (#8927)
  • make lanelet2_map_visualization independent
  • remove unused files
  • remove unused package
  • fix package name
  • add autoware_ prefix
  • add autoware to exec name
  • add autoware prefix

  * removed unnecessary dependency ---------

• Contributors: Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome
• Merge branch 'main' into release-0.40.0
• feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (#9392)
• refactor(map_loader)!: prefix package and namespace with autoware (#8927)
  • make lanelet2_map_visualization independent
  • remove unused files
  • remove unused package
  • fix package name
  • add autoware_ prefix
  • add autoware to exec name
  • add autoware prefix

  * removed unnecessary dependency ---------

• refactor(map_loader)!: prefix package and namespace with autoware (#8927)
  • make lanelet2_map_visualization independent
  • remove unused files
  • remove unused package
  • fix package name
  • add autoware_ prefix
  • add autoware to exec name
  • add autoware prefix

  * removed unnecessary dependency ---------

• Contributors: Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome

0.39.0 (2024-11-25)

• chore(package.xml): bump version to 0.39.0 (#9435) * chore: update CODEOWNERS (#9203) Co-authored-by: github-actions <<github-actions@github.com>>
  • refactor(time_utils): prefix package and namespace with autoware (#9173)
  • refactor(time_utils): prefix package and namespace with autoware
  • refactor(time_utils): prefix package and namespace with autoware

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • feat(rtc_interface): add requested field (#9202)
  • add requested feature

  * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> ---------Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

  • fix(mpc_lateral_controller): correctly resample the MPC trajectory yaws (#9199)

  * fix(bpp): prevent accessing nullopt (#9204) fix(bpp): calcDistanceToRedTrafficLight null

  • refactor(autoware_map_based_prediction): split pedestrian and bicycle predictor (#9201)
  • refactor: grouping functions
  • refactor: grouping parameters
  • refactor: rename member road_users_history to road_users_history_
  • refactor: separate util functions
  • refactor: Add predictor_vru.cpp and utils.cpp to map_based_prediction_node
  • refactor: Add explicit template instantiation for removeOldObjectsHistory function
  • refactor: Add tf2_geometry_msgs to data_structure
  • refactor: Remove unused variables and functions in map_based_prediction_node.cpp
  • Update perception/autoware_map_based_prediction/include/map_based_prediction/predictor_vru.hpp
  • Apply suggestions from code review

  * style(pre-commit): autofix ---------Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher (#8912)
  • Moved ndt_omp into ndt_scan_matcher
  • Added Copyright
  • style(pre-commit): autofix
  • Fixed include
  • Fixed cast style
  • Fixed include
  • Fixed honorific title
  • Fixed honorific title
  • style(pre-commit): autofix
  • Fixed include hierarchy
  • style(pre-commit): autofix
  • Fixed include hierarchy
  • style(pre-commit): autofix
  • Fixed hierarchy
  • Fixed NVTP to NVTL
  • Added cspell:ignore
  • Fixed miss spell
  • style(pre-commit): autofix
  • Fixed include
  • Renamed applyFilter
  • Moved ***_impl.hpp from include/ to src/
  • style(pre-commit): autofix
  • Fixed variable scope

  * Fixed to pass by reference ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • feat(autoware_test_utils): add traffic light msgs parser (#9177)
  • fix(rtc_interface): update requested field for every cooperateStatus state (#9211)
  • fix rtc_interface

  * fix test condition ---------

  • feat(static_obstacle_avoidance): operator request for ambiguous vehicle (#9205)
  • add operator request feature

  * Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> ---------Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> * feat(collision_detector): use polling subscriber (#9213) use polling subscriber * fix(diagnostic_graph_utils): reset graph when new one is received (#9208) fix(diagnostic_graph_utils): reset graph when new one is reveived * fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (#9218) Reduced initial_pose_estimation.particles_num from 200 to 100 on tests * feat(control_launch): add collision detector in launch (#9214) add collision detector in launch

  • chore(obstacle_cruise_planner): add function tests for a utils function (#9206)

  * add utils test ---------

  • fix(bvp): remove expired module safely (#9212)
  • fix(bvp): remove expired module safely
  • fix: remove module id set
  • fix: use itr to erase expired module

  * fix: remove unused function ---------

  • test(bpp_common): add unit test for safety check (#9223)
  • add test for object collision
  • add test for more functions
  • add docstring

  * fix lane change ---------

  • fix(autoware_behavior_path_goal_planner_module): fix cppcheck unreadVariable (#9192)
  • fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (#9229)
  • fix: bugprone-misplaced-widening-cast

  * fix: clang-format --------- * fix(autoware_euclidean_cluster): fix bugprone-misplaced-widening-cast (#9227) fix: bugprone-misplaced-widening-cast

  • fix(autoware_image_projection_based_fusion): fix bugprone-misplaced-widening-cast (#9226)
  • fix: bugprone-misplaced-widening-cast

  * fix: clang-format ---------

  • fix(autoware_compare_map_segmentation): fix cppcheck constVariableReference (#9196)
  • refactor(component_interface_utils): prefix package and namespace with autoware (#9092)
  • fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (#9189)

  * fix(autoware_freespace_planning_algorithms): fix bugprone-unused-raii (#9230) fix: bugprone-unused-raii

  • refactor(map_based_prediction): divide objectsCallback (#9219)
  • refactor(map_based_prediction): move member functions to utils (#9225)
  • test(crosswalk): add unit test (#9228)

  * fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (#9221) fix: bugprone-incorrect-roundings

  • refactor(cuda_utils): prefix package and namespace with autoware (#9171)
  • fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (#9234)
  • feat(autoware_motion_utils): add new trajectory class (#8693)
  • feat(autoware_motion_utils): add interpolator
  • use int32_t instead of int
  • use int32_t instead of int
  • use int32_t instead of int
  • add const as much as possible and use [at()]{.title-ref} in [vector]{.title-ref}
  • fix directory name
  • refactor code and add example
  • update
  • remove unused include
  • refactor code
  • add clone function
  • fix stairstep
  • make constructor to public
  • feat(autoware_motion_utils): add trajectory class
  • Update CMakeLists.txt
  • fix
  • fix package.xml
  • update crop
  • revert crtp change
  • update package.xml
  • updating...
  • update
  • solve build problem

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> * fix(autoware_image_projection_based_fusion): make optional to consider lens distortion in the point projection (#9233) chore: add point_project_to_unrectified_image parameter to fusion_common.param.yaml

  • feat(autoware_test_utils): add general topic dumper (#9207)

  * fix(autoware_ekf_localizer): remove [timer_tf_]{.title-ref} (#9244) Removed timer_tf_

  • fix(autoware_rtc_interface): fix dependency (#9237)
  • fix(autonomous_emergency_braking): solve issue with arc length (#9247)
  • solve issue with arc length

  * fix problem with points one vehicle apart from path ---------

  • fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (#9195)
  • fix(autoware_behavior_path_sampling_planner_module): fix cppcheck unusedVariable (#9190)
  • refactor(qp_interface): prefix package and namespace with autoware (#9236)
  • chore(autoware_geography_utils): update maintainers (#9246)
  • update maintainers

  * add author ---------

  • fix(lane_change): enable cancel when ego in turn direction lane (#9124)
  • RT0-33893 add checks from prev intersection
  • fix shadow variable
  • fix logic
  • update readme

  * refactor get_ego_footprint ---------

  • fix(out_of_lane): correct calculations of the stop pose (#9209)
  • fix(autoware_pointcloud_preprocessor): launch file load parameter from yaml (#8129)
  • feat: fix launch file
  • chore: fix spell error
  • chore: fix parameters file name

  * chore: remove filter base ---------

  • fix: missing dependency in common components (#9072)
  • feat(autoware_trajectory): move trajectory_container from autoware_motion_utils to a new package (#9253)
  • create trajectory container package
  • update
  • update
  • style(pre-commit): autofix
  • update codeowner
  • update

  * fix cmake ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> * fix(autoware_pointcloud_preprocessor): fix the wrong naming of crop box parameter file (#9258) fix: fix the wrong file name

  • fix(dummy_diag_publisher): not use diagnostic_updater and param callback (#9257)

  * fix(dummy_diag_publisher): not use diagnostic_updater and param callback for v0.29.0 (#1414) fix(dummy_diag_publisher): not use diagnostic_updater and param callback Co-authored-by: h-ohta <<hiroki.ota@tier4.jp>> * fix: resolve build error of dummy diag publisher (#1415) fix merge conflict ---------Co-authored-by: Shohei Sakai <<saka1s.jp@gmail.com>> Co-authored-by: h-ohta <<hiroki.ota@tier4.jp>>

  • test(behavior_path_planner_common): add unit test for path shifter (#9239)
  • add unit test for path shifter
  • fix unnecessary modification
  • fix spelling mistake

  * add docstring ---------

  • feat(system_monitor): support loopback network interface (#9067)
  • feat(system_monitor): support loopback network interface

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> * feat(autoware_trajectory): change interface of InterpolatedArray (#9264) change interface of InterpolateArray

  • feat(system_monitor): add on/off config for network traffic monitor (#9069)
  • feat(system_monitor): add config for network traffic monitor

  * fix: change function name from stop to skip ---------

  • feat(detection_area)!: add retruction feature (#9255)
  • fix(vehicle_cmd_gate): fix processing time measurement (#9260)
  • fix(bvp): use polling subscriber (#9242)
  • fix(bvp): use polling subscriber

  * fix: use newest policy ---------

  • refactor(lane_change): remove std::optional from lanes polygon (#9267)
  • fix(bpp): prevent accessing nullopt (#9269)

  * refactor(lane_change): revert "remove std::optional from lanes polygon" (#9272) Revert "refactor(lane_change): remove std::optional from lanes polygon (#9267)" This reverts commit 0c70ea8793985c6aae90f851eeffdd2561fe04b3.

  • feat(goal_planner): sort candidate path only when num to avoid is different (#9271)
  • fix(/autoware_freespace_planning_algorithms): fix cppcheck unusedFunction (#9274)
  • fix(autoware_behavior_path_start_planner_module): fix cppcheck unreadVariable (#9277)
  • fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (#9275)
  • fix(autoware_pure_pursuit): fix cppcheck unusedFunction (#9276)

  * fix(lane_change): correct computation of maximum lane changing length threshold (#9279) fix computation of maximum lane changing length threshold

  • feat(aeb): set global param to override autoware state check (#9263)
  • set global param to override autoware state check
  • change variable to be more general
  • add comment
  • move param to control component launch

  * change param name to be more straightforward --------- * fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (#9273) feat(planning): add new steering factor topics for obstacle avoidance and lane changes

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

  • fix(lane_change): extending lane change path for multiple lane change (RT1-8427) (#9268)
  • RT1-8427 extending lc path for multiple lc

  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp Co-authored-by: mkquda <<168697710+mkquda@users.noreply.github.com>> ---------Co-authored-by: mkquda <<168697710+mkquda@users.noreply.github.com>> * fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (#8995) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>>

  • fix(behavior_path_planner_common): use boost intersects instead of overlaps (#9289)
  • fix(behavior_path_planner_common): use boost intersects instead of overlaps

  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp Co-authored-by: Go Sakayori <<go-sakayori@users.noreply.github.com>> ---------Co-authored-by: Go Sakayori <<go-sakayori@users.noreply.github.com>>

  • ci(.github): update image tags (#9286)
  • refactor(autoware_ad_api_specs): prefix package and namespace with autoware (#9250)
  • refactor(autoware_ad_api_specs): prefix package and namespace with autoware
  • style(pre-commit): autofix
  • chore(autoware_adapi_specs): rename ad_api to adapi
  • style(pre-commit): autofix
  • chore(autoware_adapi_specs): rename ad_api to adapi
  • chore(autoware_adapi_specs): rename ad_api to adapi

  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • chore(autoware_traffic_light*): add maintainer (#9280)
  • add fundamental commit

  * add forgot package ---------

  • fix(autoware_mpc_lateral_controller): fix bugprone-misplaced-widening-cast (#9224)
  • fix: bugprone-misplaced-widening-cast

  * fix: consider negative values --------- * fix(autoware_detected_object_validation): fix clang-diagnostic-error (#9215) fix: clang-c-error * fix(autoware_detected_object_validation): fix bugprone-incorrect-roundings (#9220) fix: bugprone-incorrect-roundings

  • feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit (#9290)
  • refactor(lane_change): remove std::optional from lanes polygon (#9288)
  • feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (#9180)
  • first commit
  • fix building errs.
  • change diagnostic messages to metric messages for publishing decision.
  • fix bug about motion_velocity_planner
  • change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
  • tmp save for planning_evaluator
  • change the topic to which metrics published to.
  • fix typo.
  • remove unnesessary publishing of metrics.
  • mke planning_evaluator publish msg of MetricArray instead of Diags.
  • update aeb with metric type for decision.
  • fix some bug
  • remove autoware_evaluator_utils package.
  • remove diagnostic_msgs dependency of planning_evaluator
  • use metric_msgs for autoware_processing_time_checker.
  • rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
  • pre-commit and fix typo
  • publish metrics even if there is no metric in the MetricArray.
  • modify the metric name of processing_time.
  • update unit test for test_planning/control_evaluator

  * manual pre-commit ---------

  • feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (#9261)
  • chore(tvm_utility): remove tvm_utility package as it is no longer used (#9291)
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • perf(autoware_ndt_scan_matcher): remove evecs_, evals_ of Leaf for memory efficiency (#9281)

  * fix(lane_change): correct computation of maximum lane changing length threshold (#9279) fix computation of maximum lane changing length threshold

  • perf: remove evecs, evals from Leaf

  * perf: remove evecs, evals from Leaf ---------Co-authored-by: mkquda <<168697710+mkquda@users.noreply.github.com>>

  • test(costmap_generator): unit test implementation for costmap generator (#9149)
  • modify costmap generator directory structure
  • rename class CostmapGenerator to CostmapGeneratorNode
  • unit test for object_map_utils
  • catch error from lookupTransform
  • use polling subscriber in costmap generator node
  • add test for costmap generator node
  • add test for isActive()
  • revert unnecessary changes
  • remove commented out line
  • minor fix

  * Update planning/autoware_costmap_generator/src/costmap_generator.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> ---------Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

  • fix(control): missing dependency in control components (#9073)
  • test(autoware_control_evaluator): add unit test for utils autoware_control_evaluator (#9307)
  • update unit test of control_evaluator.

  * manual pre-commit. ---------

  • fix(collision_detector): skip process when odometry is not published (#9308)
  • subscribe odometry
  • fix precommit

  * remove unnecessary log info ---------

  • feat(goal_planner): safety check with only parking path (#9293)
  • refactor(goal_planner): remove reference_goal_pose getter/setter (#9270)

  * feat(start_planner, lane_departure_checker): speed up by updating polygons (#9309) speed up by updating polygons

  • fix(autoware_trajectory): fix bug of autoware_trajectory (#9314)
  • feat(autoware_trajectory): change default value of min_points (#9315)
  • chore(codecov): update maintained packages (#9316)
  • doc: fix links to design documents (#9301)
  • fix(costmap_generator): use vehicle frame for lidar height thresholds (#9311)
  • fix(tier4_dummy_object_rviz_plugin): fix missing dependency (#9306)
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • add changelog
  • update changelog
  • fix version
  • 0.39.0
  • refactor(map_loader)!: prefix package and namespace with autoware (#8927)
  • make lanelet2_map_visualization independent
  • remove unused files
  • remove unused package
  • fix package name
  • add autoware_ prefix
  • add autoware to exec name
  • add autoware prefix

  * removed unnecessary dependency --------- * update version ---------Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]\@users.noreply.github.com> Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Esteve Fernandez <<33620+esteve@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Go Sakayori <<go-sakayori@users.noreply.github.com>> Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>> Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>> Co-authored-by: SakodaShintaro <<shintaro.sakoda@tier4.jp>> Co-authored-by: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> Co-authored-by: Yuki TAKAGI <<141538661+yuki-takagi-66@users.noreply.github.com>> Co-authored-by: Ryuta Kambe <<ryuta.kambe@tier4.jp>> Co-authored-by: kobayu858 <<129580202+kobayu858@users.noreply.github.com>> Co-authored-by: Yukinari Hisaki <<42021302+yhisaki@users.noreply.github.com>> Co-authored-by: danielsanchezaran <<daniel.sanchez@tier4.jp>> Co-authored-by: Yamato Ando <<yamato.ando@gmail.com>> Co-authored-by: Zulfaqar Azmi <<93502286+zulfaqar-azmi-t4@users.noreply.github.com>> Co-authored-by: Yi-Hsiang Fang (Vivid) <<146902905+vividf@users.noreply.github.com>> Co-authored-by: ぐるぐる <<f0reach@f0reach.me>> Co-authored-by: Shohei Sakai <<saka1s.jp@gmail.com>> Co-authored-by: h-ohta <<hiroki.ota@tier4.jp>> Co-authored-by: iwatake <<take.iwiw2222@gmail.com>> Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> Co-authored-by: mkquda <<168697710+mkquda@users.noreply.github.com>> Co-authored-by: Kyoichi Sugahara <<kyoichi.sugahara@tier4.jp>> Co-authored-by: Giovanni Muhammad Raditya <<mraditya01@yahoo.com>> Co-authored-by: Masato Saeki <<78376491+MasatoSaeki@users.noreply.github.com>> Co-authored-by: Kem (TiankuiXian) <<1041084556@qq.com>> Co-authored-by: Kento Osa <<38522559+taisa1@users.noreply.github.com>> Co-authored-by: Masaki Baba <<maumaumaumaumaumaumaumaumaumau@gmail.com>>

• Contributors: Yutaka Kondo

0.38.0 (2024-11-11)