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
INPUT ： Pointcloud-Topic, PoseGT-Topic
OUTPUT： .pcd-format-map file
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Prepare AWSIM-binary follwing here
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Build this pkg from this source
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running this pkg and AWSIM
ros2 launch awsim_pointcloud_builder awsim_pointcloud_builder.launch.xml save_path:=<save_map_path>
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Stop AWSIM.
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It's a success if pcd-file exists in save_map_path.