From ad2a8d8acee96eafa91addc361b218c0adf48dbd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= Date: Sat, 7 Sep 2024 18:32:49 +0300 Subject: [PATCH] Update map component MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Barış Zeren --- docs/design/autoware-interfaces/components/map.md | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/docs/design/autoware-interfaces/components/map.md b/docs/design/autoware-interfaces/components/map.md index 578981ad963..50b379b5726 100644 --- a/docs/design/autoware-interfaces/components/map.md +++ b/docs/design/autoware-interfaces/components/map.md @@ -26,17 +26,18 @@ It loads point cloud files and publishes the maps to the other Autoware nodes in ### Lanelet2 map -It loads a Lanelet2 file and publishes the map data as `autoware_auto_mapping_msgs/msg/HADMapBin` message. The lan/lon coordinates are projected onto the MGRS coordinates. +It loads Lanelet2 files and publishes the map data in various configurations. Currently, it supports the following types: -- autoware_auto_mapping_msgs/msg/HADMapBin +- Single Lanelet2 map (autoware_map_msgs/LaneletMapBin) - std_msgs/Header header - string version_map_format - string version_map - string name_map - uint8[] data +- Multiple Lanelet2 maps loading via ROS service (autoware_map_msgs/srv/GetSelectedLanelet2Map) ### Lanelet2 map visualization -Visualize `autoware_auto_mapping_msgs/HADMapBin` messages in `Rviz`. +Visualize `autoware_map_msgs/LaneletMapBin` messages in `Rviz`. - visualization_msgs/msg/MarkerArray