How to use map_loader package to visualizse LaneLet2 map

[TZECHIN6]

https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_loader

I have followed above README to start both map_loader and map_visualizer, from the console screenshot, i believe the topic is correctly set and the map is loaded successfully, however when i run rviz2 and add the marker topic for visualization. Nothing has been shown.

Have anyone know the correct way how to use it? I just want to visualize the lanelet2 map.

This .osm map can be successfully loaded into autoware and test run before.

[mitsudome-r]

@TZECHIN6
map_loader projects the Lanelet2 map into MGRS grid coordinates from lat/lon information in the map by default. The values in MGRS coordinates could be very large and might be out of RViz display area. Try launch map_tf_generator as well so that viewer tf frame is published at the center of Lanelet2 Map. Make sure that you also select appropriate frames in Rviz as shown in the image.

[TZECHIN6]

@mitsudome-r

Thanks for your quick reply. I have tried your suggestion, I am not sure am I doing it correctly or not... things seem working, but I cant see any vector line in the Rviz2. Might be I forget to subscribe it in Rviz? but I could not find any topic can be subscribe inside Rviz2.

[soumya997]

Hi @TZECHIN6 man did you figure out how to load the map properly. im also facing same issue.

I also cant see the vector map in the rviz2. generally in ros 1 there is a plugin to add for it to show up in the rviz. i think its called lanelet2_interface_ros but seems like its not available for ros 2.

Cc: @mitsudome-r

[maxime-clem]

@soumya997
I think a robust way to load the map is using the autoware.launch.xml but disabling all components except for the map component:

ros2 launch autoware_launch autoware.launch.xml map_path:=/PATH_TO_MAP_FOLDER/ \
vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit \
launch_localization:=false launch_planning:=false launch_perception:=false launch_sensing:=false launch_sensing_driver:=false launch_control:=false launch_system:=false launch_vehicle:=false launch_vehicle_interface:=false launch_map:=true launch_api:=false

It should load the map and open rviz with the view already centered on the map.

[soumya997]

Hi @maxime-clem is there any other way to load lanelet2 maps in rviz2? Installing all those dependencies and building autoware seems a overkill for a small integration.

[maxime-clem]

Command to only use the map component (make sure to run it from the root of your Autoware workspace, and replace the MAP_PATH):

ros2 launch tier4_map_launch map.launch.xml pointcloud_map_path:='""' pointcloud_map_metadata_path:='""' lanelet2_map_path:=/MAP_PATH/lanelet2_map.osm map_projector_info_path:='""' pointcloud_map_loader_param_path:=src/universe/autoware.universe/map/map_loader/config/pointcloud_map_loader.param.yaml lanelet2_map_loader_param_path:=src/universe/autoware.universe/map/map_loader/config/lanelet2_map_loader.param.yaml map_tf_generator_param_path:=src/universe/autoware.universe/map/autoware_map_tf_generator/config/map_tf_generator.param.yaml map_projection_loader_param_path:=src/universe/autoware.universe/map/autoware_map_projection_loader/config/map_projection_loader.param.yaml

If you just want to visualize the lanelet map without having to setup Autoware you should just use another tool (e.g., Vector Map Builder) or you can open an issue on the lanelet2 repository.

[soumya997]

Thank you so much. I will try it out.
my goal is to load the lanelet map in rviz2 and further query whats the current lanelet im in or the sets of lanelets to follow to reach the goal pose etc.

Well josm is also there 👀, although its not a part of autoware!