map_file package

points_map_filter

feature

points_map_filter_node subscribe pointcloud maps and current pose, the node extract pointcloud near to the current pose.

subscribed topics

/points_map (sensor_msgs/PointCloud2) : Raw pointcloud map. This topic usually comes from points_map_loader.
/current_pose (geometry_msgs/PoseStamped) : Current pose of the car. This topic usually comes from pose_relay node.

published topics

/points_map/filtered (sensor_msgs/PointCloud2) : Filtered pointcloud submap.

parameters

For points_map_filter

For points_map_loader

.pcd file search function is also implemented. Now you can specify multiple files or directories for pcd_paths. If directories are specified, it automatically search files in it.

how it works

map_filter_node relay /points_map topic until it recieves /current_pose topic.
Then, the /current_pose topic recieved, the map_filter_node publish submap.

demonstration

vector_map_loader

This node loads a vector map from csv files.

parameters

• load_mode - Set the mode of operation for the node. Possible values are:
  • “file” - Default operation mode, requires each csv file to be specified in args.
  • “directory” - Loads all csv files with vector map names in the directory specified by the map_dir parameter.
  • “download” - Downloads the vector map csvs from a webhost, use the args to specify
• map_dir - Specify the path to the directory containing vector map csv files. Only used in “directory” mode.
• host - Hostname of the webserver. Only used in “download” mode.
• port - Port of the webserver. Only used in “download” mode.
• username - Username. Only used in “download” mode.
• password - Password. Only used in “download” mode.

lanelet2_map_loader

Feature

lanelet2_map_loader loads Lanelet2 file and publish the map data as autoware_lanelet2_msgs/MapBin message. The node projects lan/lon coordinates into MGRS coordinates.

How to run

Run from CLI: rosrun map_file lanelet2_map_loader path/to/map.osm

Published Topic

/lanelet_map_bin (autoware_lanelet2_msgs/MapBin) : Binary data of loaded Lanelet2 Map.

lanelet2_map_visualization

Feature

lanelet2_map_visualization visualizes autoware_lanelet2_msgs/MapBin messages into visualization_msgs/MarkerArray.

How to run

Run from CLI: rosrun map_file lanelet2_map_visualization

Subscribed Topics

/lanelet_map_bin (autoware_lanelet2_msgs/MapBin) : binary data of Lanelet2 Map

Published Topics

/lanelet2_map_viz (visualization_msgs/MarkerArray) : visualization messages for RVIZ

Changelog for package map_file

1.11.0 (2019-03-21)

• [fix] Install commands for all the packages (#1861)
  • Initial fixes to detection, sensing, semantics and utils
  • fixing wrong filename on install command
  • Fixes to install commands
  • Hokuyo fix name
  • Fix obj db
  • Obj db include fixes
  • End of final cleaning sweep
  • Incorrect command order in runtime manager
  • Param tempfile not required by runtime_manager
  • • Fixes to runtime manager install commands
  • Remove devel directory from catkin, if any
  • Updated launch files for robosense
  • Updated robosense
  • Fix/add missing install (#1977)
  • Added launch install to lidar_kf_contour_track
  • Added install to op_global_planner
  • Added install to way_planner
  • Added install to op_local_planner
  • Added install to op_simulation_package
  • Added install to op_utilities
  • Added install to sync
  • • Improved installation script for pointgrey packages
  • Fixed nodelet error for gmsl cameras
  • USe install space in catkin as well
  • add install to catkin
  • Fix install directives (#1990)
  • Fixed installation path
  • Fixed params installation path
  • Fixed cfg installation path
  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Contributors: Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

• Fixes for catkin_make
• Switch to Apache 2 license (develop branch) (#1741)
  • Switch to Apache 2

  * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

  • Update license on Python files
  • Update copyright years
  • Add #ifndef/define _POINTS_IMAGE_H_
  • Updated license comment
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Feature/points map filter (#1658)
  • add points_map_filter node
  • add passthrough filter
  • fix filter function
  • apply clang-format
  • add README.md
• Contributors: Esteve Fernandez, Masaya Kataoka, amc-nu

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

• [fix] PascalCase messages (#1408)
  • Switch message files to pascal case
  • Switch message names to pascal case in Runtime Manager
  • Switch message names to pascal case in *.yaml
  • Rename brake_cmd and steer_cmd to BrakeCmd and SteerCmd in main.yaml
• Contributors: Esteve Fernandez

1.8.0 (2018-08-31)

• [Fix] Moved C++11 flag to autoware_build_flags (#1395)
• [Feature] Makes sure that all binaries have their dependencies linked (#1385)
• [Fix] Extend and Update interface.yaml (#1291)
• Contributors: Esteve Fernandez, Kenji Funaoka

1.7.0 (2018-05-18)

• update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
• -Added support fot VMap colouring to Left Traffic signals (#988) -Added Lane number on tlr_superimpose
• Contributors: Abraham Monrroy, Kosuke Murakami

1.6.3 (2018-03-06)

1.6.2 (2018-02-27)

• Update CHANGELOG
• Contributors: Yusuke FUJII

1.6.1 (2018-01-20)

• update CHANGELOG
• Contributors: Yusuke FUJII

1.6.0 (2017-12-11)

• Prepare release for 1.6.0
• use header.frame_id included in initialpose topic
• Initial modifications to feat_proj, tlr, context and vector_map loader, server and client to support different types of traffic signals
• Contributors: AMC, Yamato ANDO

1.5.1 (2017-09-25)

• Release/1.5.1 (#816)
  • fix a build error by gcc version
  • fix build error for older indigo version
  • update changelog for v1.5.1
  • 1.5.1
• Contributors: Yusuke FUJII

1.5.0 (2017-09-21)

• Update changelog
• compilation issues
• added install targets changed finding pcl removed unneeded dependencies
• Contributors: Dejan Pangercic, Yusuke FUJII

1.4.0 (2017-08-04)

• version number must equal current release number so we can start releasing in the future
• added changelogs
• Contributors: Dejan Pangercic

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

• convert to autoware_msgs
• Contributors: YamatoAndo

1.2.0 (2017-06-07)

• fix circular-dependency
• Contributors: Shohei Fujii

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

1.1.0 (2017-02-24)

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)

• Remove unnecessary error checks
• Delete map_file messages
• Refactoring
• Add error check for vector_map_loader
• Add download mode for vector_map_loader
• Have to be under_scored filename
• Rename wrong directory and filename
• Fix typos around map_db
• Add vector_map_loader corresponding to new road objects
• Add draft proposal of vector_map_loader
• Runtime Manager, update points_map_loader for SIGINT termination
• add const to errp read only parameter
• Runtime Manager Quick Start tab, fix Map load OK label
• Add module graph tool
• Fix for rosjava installed platform Some packages don't declare package dependencies correctly. This makes message jar files built failure.
• Rewrite points_map_loader Rewrite the entire main program. Delete a noisy debug message in library.
• Use pcd download thread too Existing callbacks use pcd download thread too.
• Add look ahead downloader
• Implement request queue to download pcd
• Are not DEBUG_PRINT These outputs are used by Runtime Manager.
• Move output of load message
• Fix handling of /pmap_stat Needn't buffer messages, should be lached. Add initialization code.
• Default variable is 1000 msec
• Fix update_rate
• Redesign map_downloader dialog
• Add ROS parameters for HTTP server
• Don't require initial position
• Delete file by the failure of download If libcurl fails to download, obtained file is deleted.
• Check HTTP response code
• Move std:ofstream::close
• Add digest access authentication
• Stop publishing messages of lane namespace
• Refactoring CMakeLists.txt Remove absolute paths by using cmake features and pkg-config.
• Use c++11 option instead of c++0x We can use newer compilers which support 'c++11' option
• Merge map_db with map_file.
• Fix road sign warning on Rviz
• Initial commit for public release
• Contributors: Shinpei Kato, Syohei YOSHIDA, USUDA Hisashi, kondoh, syouji