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docs: add dynamic lanelet2 map loading #522

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7 changes: 4 additions & 3 deletions docs/design/autoware-interfaces/components/map.md
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Expand Up @@ -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
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