Package Summary
Tags | No category tags. |
Version | 1.0.0 |
License | Apache 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/autocore-ai/autowareauto.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2021-11-02 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
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Package Description
Additional Links
Maintainers
- Apex.AI, Inc.
Authors
NDT Map Provider Node - Usage and Configuration
Usage
1. Necessary Files
You will need a map file in .pcd
format containing the 3D point cloud data of the map.
You will also need a separate map information file in .yaml
format. This contains the location of the point cloud map origin in geocentric coordinates.
The map information file (YAML file) should have the following format:
# example_map.yaml
---
map_config:
latitude: 37.380811523812845
longitude: -121.90840595108715
elevation: 16.0
roll: 0.0
pitch: 0.0
yaw: 0.0
where latitude
, longitude
and elevation
are the WGS84 coordinates of the origin of the point cloud map, and roll, pitch and yaw describe the orientation of the map reference frame.
2. Create/edit a parameter file to reference the map YAML file
An example parameter file for the map_publisher
node can be found in the following location (inside the ade environment):
/opt/AutowareAuto/share/ndt_nodes/share/param/map_publisher.param.yaml
Alternatively if building from source code the example parameter file will be located here:
~/AutowareAuto/install/ndt_nodes/share/ndt_nodes/param/map_publisher.param.yaml
Copy the file to another location and edit (and uncomment) the map_pcd_file
and the map_yaml_file
parameters of the file map_publisher.param.yaml
to refer to the point cloud map and the YAML map information files:
map_pcd_file: "/path/to/map_data.pcd"
map_yaml_file: "/path/to/map_info.yaml"
Be carefull to enter appropriate values for map parameters such as minimum and maximum points.
3. Run the map_publisher node
Inside the ade, source the workspace. If you are using precompiled version source from /opt/AutowareAuto/setup.bash
. if you are developing and have built from source code, source the from ~/AutowareAuto/install/setup.bash
Run the node with the paramter file as an argument:
ros2 run ndt_nodes ndt_map_publisher_exe --ros-args --params-file path/to/map_publisher.param.yaml
Alternatively use a launch file:
ros2 launch ndt_nodes map_provider.launch.py
which launches the map provider node with the default parameter values in map_publisher.param.yaml
, and also launches a voxel_grid_node
to sub-sample the point cloud for visualization.
4. Output
By default (as defined in the parameter file), the map_provider node will publish the following information
- the ndt map on the topic
ndt_map
- the point cloud map visualization on the topic
viz_ndt_map
- if a
voxel_grid_node
is used to sub-sample the point cloud as in the launch file, it will be published on the topicviz_map_subsampled
Configuration of map provider node
The configurable parameters passed by the parameter file map_publisher.param.yaml
of the node are:
Parameter Name | Usage |
---|---|
map_pcd_file | file name of point cloud data file |
map_yaml_file | file name of map information file |
map_frame | frame for map point coordinates |
map_config.capacity | max ndt map voxel capacity |
map_config.min_point.x | min x bound for ndt map data |
map_config.min_point.y | min y bound for ndt map data |
map_config.min_point.z | min z bound for ndt map data |
map_config.max_point.x | max x bound for ndt map data |
map_config.max_point.y | max y bound for ndt map data |
map_config.max_point.z | max z bound for ndt map data |
map_config.voxel_size.x | voxel x size for ndt map data |
map_config.voxel_size.y | voxel y size for ndt map data |
map_config.voxel_size.z | voxel z size for ndt map data |
viz_map | flag for whether to publish map for visualization |
A voxel_grid_node is used to down sample the point cloud for visualization. An example parameter file for the voxel grid is given at
/opt/AutowareAuto/share/ndt_nodes/share/param/pcl_map_voxel_grid_downsample.param.yaml
:
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
---|
libpcl-all-dev |
yaml-cpp |