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Package Summary

Tags No category tags.
Version 0.0.0
License TODO
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2025-04-06
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags control computer-vision deep-learning motion-planning perception autonomous-driving sensor-fusion sensors-data-collection world-modeling
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

High Definition Map Package

Additional Links

No additional links.

Maintainers

  • Vishal Jayakumar

Authors

No additional authors.

World Modeling HD Map

The HD map is responsible for navigation and behavioral planning for the vehicle given a high-definition map of the roads. It implements the Dynamic Relation Graph for decision making from dynamic perceptions.

Structure

The HD map is based on a central routing node, which includes IO for a lanelet2 graph. The routing graph is initialized using an open street map (.osm) file and updated dynamically using the dynamic relation graph, which receivs perception inputs.

The HD map projector is responsible for taking open street map files (.osm) and convert them to lanelet2 graphs.

The HD map destination service is responsible for taking a destination address or lat/long coordinates and passing it to the HD map routing graph. It will use the routing graph to convert the address or lat/long into a desination lanelet node, which will then be used by the lanelet graph for global planning.

The HD map visualization node is responsible for taking the routing graph and visualizing the lanelet map as well as the route that is currently being followed.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged hd_map at Robotics Stack Exchange

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