chore: add lanelet2 map config (#169)

* add_lanelet2_map_config to autoware_launch config Signed-off-by: melike <melike.153t@gmail.com> * set projector type as default Signed-off-by: meliketanrikulu <melike@leodrive.ai> --------- Signed-off-by: melike <melike.153t@gmail.com> Signed-off-by: meliketanrikulu <melike@leodrive.ai>
autowarefoundation · Feb 13, 2023 · 1a52b77 · 1a52b77
1 parent f164e64
commit 1a52b77
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diff --git a/autoware_launch/config/map/lanelet2_map_loader.param.yaml b/autoware_launch/config/map/lanelet2_map_loader.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    lanelet2_map_projector_type: MGRS   # Options: MGRS, UTM
+    latitude: 40.81187906        # Latitude of map_origin, using in UTM
+    longitude: 29.35810110          # Longitude of map_origin, using in UTM
+
+    center_line_resolution: 5.0         # [m]
diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml
@@ -8,5 +8,6 @@
     <arg name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
 
     <arg name="pointcloud_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/pointcloud_map_loader.param.yaml"/>
+    <arg name="lanelet2_map_loader_param_path" value="$(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml"/>
   </include>
 </launch>