Not able to get Dynamic Map loading to work in Autoware

[mayacarla2070]

This discussion is continuation from : https://github.com/orgs/autowarefoundation/discussions/3328#discussioncomment-5331357
dynamic map loading is enabled by default in ndt_scan_matcher.param.yaml
I have changed the enable_partial_load and enable_differential_load to true in pointcloud_map_loader.param.yaml.
But on launching autoware all the split .pcd files are merged and loaded as a complete map in Rviz.

I am of the opinion that only the lanelet map should load and only on engaging a vehicle the required .pcd file will be loaded. I think I am wrong on how this works.

[kminoda]

That's an intended behavior. ndt_scan_matcher do use dynamic map loading feature, but RViz doesn't.

If you want to visualize the map loaded in ndt_scan_matcher, visualize /localization/pose_estimator/debug/loaded_pointcloud_map.

[mayacarla2070]

@kminoda okay okay got it. How do I vizualize /localization/pose_estimator/debug/loaded_pointcloud_map ?

[sayondeep]

@kminoda

I am not able to see pose_estimator under localization to create vizualization

[mayacarla2070]

@kminoda @sayondeep

I can find the required topic on using logging_simulation launch file but can not create a vehicle for simulation

[kminoda]

@mayacarla2070 @sayondeep
I briefly took a simple demo for visualizing the loaded map using a (split) sample map. Hope this helps 👍

Screencast.from.2023.03.20.11.51.55.webm

[mayacarla2070]

@kminoda Hi,
Could you please help me with the contents of the XML file you are using to get that above dynamic map loading? I am running ros2 commands directly hence I need the contents of the XML file.
Thank you!

[kminoda]

@mayacarla2070 Sorry, I didn't get what you meant by XML.
Please refer to the readme of map loader: https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_loader. You may use https://github.com/MapIV/pointcloud_divider for dividing the map, since it will also generate the metadata YAML file as well. Also, as stated in readme, you may also use one single map instead of divided map if it's small enough (If the single pointcloud map is larger than approximately 2GB, depending on the DDS settings, you would need to use the divided map)

[mayacarla2070]

Hi @kminoda,
I am sorry for the confusion. I mean the XML file that is used while launching Autoware.
For example: ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/split_new/ vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

I have the file: logging_simulator.launch.xml. But, I am not able to do localization with this. When I use planning_simulator.launch.xml I am able to do localization, but I am not able to visualize this topic for dynamic map loading as pointed by you in above: /localization/pose_estimator/debug/loaded_pointcloud_map

I wanted an XML file which would allow me to do both. Thank you!

[kminoda]

Make sense!
Launch file itself is fine and the Autoware should work without editing those files, but you may need to change the launch arguments e.g. map_path or pointcloud_map_file depending on your map structure.
Again, please read the readme of map_loader carefully and follow the instruction. Let me know if the problem persists.

[mayacarla2070]

Hi @kminoda
This is my directory structure and the contents of the metadata file in the map path directory:

After this, I run this command: ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/split_new/ vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit and do not see the topic you mentioned in the drop down. I can see it in when I launch it with logging_simultor.launch.yaml

Screencast.from.03-10-23.11.09.06.AM.IST.webm

Also, I reverted all the changed I made to the above XML file as suggested by you.

[kminoda]

@mayacarla2070 Planning simulation does not use dynamic point cloud map loading.

[mayacarla2070]

@kminoda Hi,
I am using logging_simulator.launch.xml, but I cannot do localization with that. It throws this error(log snippet):

log_snippet.txt

How do I get both localization and dynamic point cloud map loading? Please share your thoughts and insights.

[kminoda]

Thanks for sharing the log. Would you share the log from the beginning? (it can be long)
What I would like to see is the output from ndt_scan_matcher and map_loader

[mayacarla2070]

Hi @kminoda ,
Please find the complete log output when running this command(ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/split_new/ vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit) and trying to do localization.

output_oct6.log

Thanks!

[kminoda]

Thanks!
Let me check: Does the log include all the outputs of Autoware? It seems that the map_loader starts loading the map according to

[component_container-24] [INFO] [1696570825.814278583] [map.pointcloud_map_loader]: Load /home/sayon/autoware_map/split_new//pointcloud_map.pcd/100_3600_73700.pcd (1 out of 16)

And also the metadata

[component_container-24] [INFO] [1696570825.933459486] [map.pointcloud_map_loader]: Loaded PCD metadata: /home/sayon/autoware_map/split_new//pointcloud_map_metadata.yaml

But seemingly there is not output from map_projection_loader, which is incorporated into Autoware just recently.
Maybe it's better to share your map data and the Autoware version as well.

(BTW, please be aware that my help might not be quick, so I would recommend to investigate on your own as much as possible. Thank you for your understanding 🙇 )