tier4_map_launch

Structure

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use map.launch.py.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of map.launch.xml.

<arg name="map_path" description="point cloud and lanelet2 map directory path"/>
<arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>

<include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
  <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)" />
  <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>

  <!-- Parameter files -->
  <arg name="FOO_param_path" value="..."/>
  <arg name="BAR_param_path" value="..."/>
  ...
</include>

Notes

For reducing processing load, we use the Component feature in ROS 2 (similar to Nodelet in ROS 1 )

Changelog for package tier4_map_launch

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)

• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
• fix: fix ticket links in CHANGELOG.rst (#9588)
• chore(package.xml): bump version to 0.39.0 (#9587)
  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)
• 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 ---------

• 0.39.0
• update changelog
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• 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 ---------

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• 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

• Contributors: Esteve Fernandez, Fumiya Watanabe, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• 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

• Contributors: Esteve Fernandez, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• fix(tier4_map_launch): remove parameter use_intra_process (#9138)
• refactor(map_projection_loader)!: prefix package and namespace with autoware (#8420)
  • add autoware_ prefix

  * add autoware_ prefix ---------Co-authored-by: SakodaShintaro <<shintaro.sakoda@tier4.jp>>

• fix(map_tf_genrator): fix map launch prefix (#8598) fix(map_tf_geenrator): fix map launch prefix
• refactor(map_tf_generator)!: prefix package and namespace with autoware (#8422)
  • add autoware_ prefix

  * add autoware_ prefix ---------Co-authored-by: SakodaShintaro <<shintaro.sakoda@tier4.jp>>

• chore(localization, map): remove maintainer (#7940)
• chore(map): udpate maintainer (#7405) udpate maintainer
• fix(tier4_map_launch): change log output (#7289) change log output from screen to both Co-authored-by: SakodaShintaro <<shintaro.sakoda@tier4.jp>>
• Contributors: Kosuke Takeuchi, Masaki Baba, Yamato Ando, Yutaka Kondo, cyn-liu, kminoda

0.26.0 (2024-04-03)

• refactor(map_tf_generator): rework parameters (#6233)
  • refactor(map_tf_generator): rework parameters
  • add config

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

• refactor(map_projection_loader): rework parameters (#6253) * Extract all params in map_projection_loader to map_projection_loader.param.yaml Added launch argument map_projection_loader_param_path to map.launch.xml * Added map_projection_loader.schema.json. Modified README.md of map_projection_loader to read the schema.json file to construct the table of parameters
  • style(pre-commit): autofix

  * Fixed typo ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kotaro Yoshimoto <<pythagora.yoshimoto@gmail.com>>

• chore(tier4_map_launch): add maintainer (#6284)
• refactor(map_launch): use map.launch.xml instead of map.launch.py (#6185)
  • refactor(map_launch): use map.launch.xml instead of map.launch.py

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

• chore: add maintainer in map packages (#5865)
  • add maintainer

  * modify map_tf_generator's maintainer ---------

• fix(map_loader, map_projection_loader): use component interface specs (#4585)
  • feat(map): use component_interface_specs in map_projection_loader
  • update map_loader
  • style(pre-commit): autofix
  • feat: add dummy typo
  • update name
  • fix test

  * fix test ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat(map_projection_loader): add map_projection_loader (#3986)
  • feat(map_projection_loader): add map_projection_loader
  • style(pre-commit): autofix
  • Update default algorithm
  • fix test
  • style(pre-commit): autofix
  • add readme
  • style(pre-commit): autofix
  • fix launch file and fix map_loader
  • style(pre-commit): autofix
  • update lanelet2
  • fill yaml file path
  • style(pre-commit): autofix
  • update readme
  • style(pre-commit): autofix
  • minor fix
  • style(pre-commit): autofix
  • fix test
  • style(pre-commit): autofix
  • add include guard
  • style(pre-commit): autofix
  • update test
  • update map_loader
  • style(pre-commit): autofix
  • update docs
  • style(pre-commit): autofix
  • update
  • add dependency
  • style(pre-commit): autofix
  • remove unnecessary parameter
  • update
  • update test
  • style(pre-commit): autofix
  • add url
  • enable python tests
  • style(pre-commit): autofix
  • small fix
  • fix grammar
  • remove transverse mercator
  • style(pre-commit): autofix
  • add rule in map
  • fix readme of map loader
  • remove transverse mercator for now
  • add utm
  • remove altitude from current projection loader
  • style(pre-commit): autofix
  • fix pre-commit
  • fix build error
  • fix: remove package.xml
  • fix clang-tidy

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>

• style: fix typos (#3617)
  • style: fix typos in documents
  • style: fix typos in package.xml
  • style: fix typos in launch files

  * style: fix typos in comments ---------

• build: mark autoware_cmake as <buildtool_depend> (#3616) * build: mark autoware_cmake as <buildtool_depend> with <build_depend>, autoware_cmake is automatically exported with ament_target_dependencies() (unecessary)
  • style(pre-commit): autofix

  * chore: fix pre-commit errors ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>>

• feat(map_loader): add selected map loader (#3286)
  • add id based map loader
  • add metadata publisher
  • feat(map_loader): add support for sequential_map_loading
  • feat(map_loader): add support for selected_map_loader and structure of metadata
  • feat(map_loader): turn off selected_map_loading as default setting
  • feat(map_loader): update map_loader corresponding to autoware_map_msgs update
  • docs(map_loader): add description of selected pcd load server and pcd metadata publisher
  • style(pre-commit): autofix

  * feat(map_loader): change onServiceGetSelectedPointCloudMap into const function ---------Co-authored-by: Shin-kyoto <<58775300+Shin-kyoto@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat(map_loader): add grid coordinates for partial/differential map load (#3205)
  • feat(map_loader): add grid coordinates for partial/differential map load
  • style(pre-commit): autofix
  • update readme
  • remove unnecessary line
  • update arguments in readme
  • slightly updated directory structure in readme

  * update readme ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch (#2670) * chore(tier4_map_launch): add lanelet2 config files to tier4_map_launch Update launch/tier4_map_launch/launch/map.launch.xml Co-authored-by: kminoda <<44218668+kminoda@users.noreply.github.com>> delete lanelet2_map_projector type in launch remove config path * chore(tier4_map_launch): fix lanelet launch name ---------

• refactor(tier4_map_launch): remove unused config (#2722)
  • refactor(tier4_map_launch): remove unused config
  • load lanelet2 parameter from upper level
  • revert the addition of lanelet2 param
• revert(tier4_map_launch): move config back to autoware_universe (#2561)
  • revert(tier4_map_launch): move config back to autoware_universe
  • fix map.launch.xml
• feat(tier4_map_launch): remove configs and move to autoware_launch (#2538)
  • feat(tier4_map_launch): remove configs and move to autoware_launch
  • update readme
  • fix readme
  • remove config
  • update readme
• feat(map_loader): add differential map loading interface (#2417)
  • first commit
  • ci(pre-commit): autofix
  • added module load in _node.cpp
  • ci(pre-commit): autofix
  • create pcd metadata dict when either of the flag is true
  • ci(pre-commit): autofix
  • fix readme

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

• feat(map_loader): add downsampled pointcloud publisher (#2418)
  • first commit
  • debugged
  • update readme
  • update param in tier4_map_launch
  • debug
  • debugged
  • Now build works
  • ci(pre-commit): autofix
  • set default param to false

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

• feat(map_loader): add partial map loading interface in pointcloud_map_loader (#1938)
  • first commit
  • reverted unnecessary modification
  • ci(pre-commit): autofix
  • renamed some classes
  • ci(pre-commit): autofix
  • move autoware_map_msgs to autoware_msgs repos
  • catch up with the modification in autoware_map_msgs
  • ci(pre-commit): autofix
  • aligned with autoware_map_msgs change (differential/partial modules seperation)
  • ci(pre-commit): autofix
  • debugged
  • debugged
  • added min-max info and others
  • ci(pre-commit): autofix
  • minor fix
  • already_loaded -> cached
  • ci(pre-commit): autofix
  • load_ -> get_
  • ci(pre-commit): autofix
  • resolve pre-commit
  • ci(pre-commit): autofix
  • minor fix
  • ci(pre-commit): autofix
  • update readme
  • ci(pre-commit): autofix
  • update readme
  • minor fix in readme
  • grammarly
  • ci(pre-commit): autofix
  • ci(pre-commit): autofix
  • fix copyright
  • fix launch file
  • remove leaf_size param
  • removed unnecessary things
  • removed downsample for now
  • removed differential_map_loader for this PR (would make another PR for this)
  • ci(pre-commit): autofix
  • removed differential_map_loader, debugged
  • ci(pre-commit): autofix
  • removed leaf_size description
  • ci(pre-commit): autofix
  • refactor sphereAndBoxOverlapExists
  • ci(pre-commit): autofix
  • added test for sphereAndBoxOverlapExists
  • ci(pre-commit): autofix
  • remove downsample function for now
  • remove fmt from target_link_libraries in test

  * minor fix in cmakelists.txt Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• chore(tier4_map_launch): add maintainers (#2416)
• ci(pre-commit): format SVG files (#2172)
  • ci(pre-commit): format SVG files
  • ci(pre-commit): autofix

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

• chore(planning/control packages): organized authors and maintainers (#1610)
  • organized planning authors and maintainers
  • organized control authors and maintainers
  • fix typo
  • fix colcon test

  * fix Update control/external_cmd_selector/package.xml Update control/vehicle_cmd_gate/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update planning/motion_velocity_smoother/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update planning/planning_debug_tools/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update control/shift_decider/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update control/pure_pursuit/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update planning/freespace_planner/package.xml Co-authored-by: Hiroki OTA <<hiroki.ota@tier4.jp>> Update control/operation_mode_transition_manager/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update planning/planning_debug_tools/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update control/shift_decider/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update control/pure_pursuit/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Update control/operation_mode_transition_manager/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>

  • fix

  * fix Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>>

• feat(map_tf_generator)!: launching planning_simulator without pointcloud map (#1216)
  • feat(map_tf_generator): add vector map tf generator
  • fix(ad_service_state_monitor): rm unused cofig param
  • chore: change launching vector_map_tf_generator
  • docs: update readme
  • refactor: rename map_tf_generator -> pcd_map_tf_generator
  • fix: build error

  * Update map/map_tf_generator/Readme.md Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> * Update map/map_tf_generator/src/vector_map_tf_generator_node.cpp Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> * Update map/map_tf_generator/Readme.md Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> * Update map/map_tf_generator/Readme.md Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>

• feat: add parameter argument for lanelet2_map_loader (#954)
  • feat: add parameter argument for lanelet2_map_loader
  • feat: add comment
• refactor: tier4_map_launch (#953)
  • refactor: tier4_map_launch

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

• chore: upgrade cmake_minimum_required to 3.14 (#856)
• refactor: use autoware cmake (#849)
  • remove autoware_auto_cmake
  • add build_depend of autoware_cmake
  • use autoware_cmake in CMakeLists.txt
  • fix bugs
  • fix cmake lint errors
• style: fix format of package.xml (#844)
• fix(map_loader): map_loader package not working in UTM coordinates (#627)
  • ci(pre-commit): autofix
  • ci(pre-commit): autofix
  • fix(map_loader): add UTM projector to map_loader package
  • fix(map_loader): update config
  • fix(map_loader): update lanelet2_map_loader_node.cpp inlude structure
  • fix(map_loader): update include structure
  • fix(map_loader): add map_projector_type parameter to map.launch.py
  • fix(map_loader): update map.launch.py
  • fix(map_loader): update map.launch.py
  • fix(map_loader): update map.launch.py
  • fix(map_loader): update map.launch.py

  * Update lanelet2_map_loader_node.cpp Co-authored-by: M. Fatih Cırıt <<xmfcx@users.noreply.github.com>>

  • fix launch file
  • ci(pre-commit): autofix

  * Update launch/tier4_map_launch/launch/map.launch.py Co-authored-by: Berkay <<brkay54@gmail.com>>

  • ci(pre-commit): autofix

  * update for merge error Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt <<xmfcx@users.noreply.github.com>> Co-authored-by: Berkay <<brkay54@gmail.com>>

• ci(pre-commit): update pre-commit-hooks-ros (#625)
  • ci(pre-commit): update pre-commit-hooks-ros

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

• feat: change launch package name (#186)
  • rename launch folder
  • autoware_launch -> tier4_autoware_launch
  • integration_launch -> tier4_integration_launch
  • map_launch -> tier4_map_launch
  • fix
  • planning_launch -> tier4_planning_launch
  • simulator_launch -> tier4_simulator_launch
  • control_launch -> tier4_control_launch
  • localization_launch -> tier4_localization_launch
  • perception_launch -> tier4_perception_launch
  • sensing_launch -> tier4_sensing_launch
  • system_launch -> tier4_system_launch
  • ci(pre-commit): autofix

  * vehicle_launch -> tier4_vehicle_launch Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: tanaka3 <<ttatcoder@outlook.jp>> Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>>

• Contributors: Hiroki OTA, Kenji Miyake, Kento Yabuuchi, Shumpei Wakabayashi, TaikiYamada4, Takayuki Murooka, Tomoya Kimura, Vincent Richard, Yamato Ando, Yukihiro Saito, kminoda, melike, melike tanrikulu