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chore: add lanelet2 map config #169

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merged 2 commits into from
Feb 13, 2023
Merged

chore: add lanelet2 map config #169

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ab3a954
add_lanelet2_map_config to autoware_launch config
meliketanrikulu Jan 17, 2023
2103f49
set projector type as default
meliketanrikulu Feb 13, 2023
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7 changes: 7 additions & 0 deletions autoware_launch/config/map/lanelet2_map_loader.param.yaml
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Original file line number Diff line number Diff line change
@@ -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]
1 change: 1 addition & 0 deletions autoware_launch/launch/components/tier4_map_component.launch.xml
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Expand Up @@ -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>