diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/images/bag2lanelet.png b/docs/how-to-guides/integrating-autoware/creating-maps/images/bag2lanelet.png new file mode 100644 index 00000000000..ff1f778bd3a Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/creating-maps/images/bag2lanelet.png differ diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/images/vector_map_builder.png b/docs/how-to-guides/integrating-autoware/creating-maps/images/vector_map_builder.png new file mode 100644 index 00000000000..2e1b3c0db9d Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/creating-maps/images/vector_map_builder.png differ diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/index.md index c17e6b48374..163554bac97 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/index.md @@ -12,9 +12,21 @@ If you prefer proprietary software that is easy to use, you can try a fully auto ## Creating a vector map -The easiest way to create an Autoware-compatible vector map is to use [Vector Map Builder](https://tools.tier4.jp/feature/vector_map_builder_ll2/), a free web-based tool provided by [TIER IV, Inc.](https://www.tier4.jp/). +### Quick way to create simple maps + +[bag2lanelet](https://autowarefoundation.github.io/autoware_tools/main/bag2lanelet/) is a tool to create virtual lanes from self-location data. Whether in a real environment or a simulation, you can use this tool to generate simple lanelets from a rosbag with self-location information, allowing you to quickly test Autoware's performance. A key use case for this tool is to emulate autonomous driving on routes that were initially driven manually. + +![bag2lanelet](images/bag2lanelet.png) + +However, it is important to note that this tool has very limited functionalities and can only generate single-lane maps. To enable more comprehensive mapping and navigation capabilities, we recommend using the 'Vector Map Builder' described in the next section. + +### Tools for a vector map creation + +The recommended way to create an Autoware-compatible vector map is to use [Vector Map Builder](https://tools.tier4.jp/feature/vector_map_builder_ll2/), a free web-based tool provided by [TIER IV, Inc.](https://www.tier4.jp/). Vector Map Builder allows you to create lanes and add additional regulatory elements such as stop signs or traffic lights using a point cloud map as a reference. +![vector_map_builder](images/vector_map_builder.png) + For open-source software options, [MapToolbox](https://github.com/autocore-ai/MapToolbox) is a plugin for [Unity](https://unity.com/) specifically designed to create Lanelet2 maps for Autoware. Although [JOSM](https://josm.openstreetmap.de/) is another open-source tool that can be used to create Lanelet2 maps, be aware that a number of modifications must be done manually to make the map compatible with Autoware. This process can be tedious and time-consuming, so the use of JOSM is not recommended. diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/others/psim-custom-map.png b/docs/tutorials/ad-hoc-simulation/images/planning/others/psim-custom-map.png new file mode 100644 index 00000000000..0e7fa462ac3 Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/planning/others/psim-custom-map.png differ diff --git a/docs/tutorials/ad-hoc-simulation/planning-simulation.md b/docs/tutorials/ad-hoc-simulation/planning-simulation.md index 782bcfaa4ad..bccdd3c3c82 100644 --- a/docs/tutorials/ad-hoc-simulation/planning-simulation.md +++ b/docs/tutorials/ad-hoc-simulation/planning-simulation.md @@ -264,3 +264,9 @@ This section provides a step-by-step guide on using the Autoware Launch GUI for - **Real-Time Monitoring:** Use the GUI to monitor CPU/Memory usage and Autoware logs in real-time. - **Profile Management:** Save your simulation profiles for quick access in future simulations. - **Adjusting Parameters:** Easily modify simulation parameters on-the-fly through the GUI. + +## Want to Try Autoware with Your Custom Map? + +The above content describes the process for conducting some operations in the planning simulator using a sample map. If you are interested in running Autoware with maps of your own environment, please visit the [How to Create Vector Map](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-maps/#creating-maps) section for guidance. + +![psim-custom-map](images/planning/others/psim-custom-map.png)