awsim-pointcloud-builder

Discription

This pkg make pointcloud-map with AWSIM. When create custom enviroment within AWSIM, this pkg helps make pointcloud for Autoware

This pkg is based on ros2-humble, pcl

https://docs.ros.org/en/humble/index.html

https://pointclouds.org/

Input/Output

INPUT ： Pointcloud-Topic, PoseGT-Topic
OUTPUT： .pcd-format-map file

How to use

1. Prepare AWSIM-binary follwing here

2. Build this pkg from this source

3. running this pkg and AWSIM

   ros2 launch awsim_pointcloud_builder awsim_pointcloud_builder.launch.xml save_path:=<save_map_path>

4. Stop AWSIM.

5. It's a success if pcd-file exists in save_map_path.