Announcing map interface change

[kminoda]

We have changed a map interface. Now, Autoware would require map_projector_info.yaml as well as pointcloud_map.pcd file(s) and lanelet2_map.osm file. The background and the motivation behind this change is Discussion.

As a backward compatibility, if map_projector_info.yaml does not exist, Autoware will assume that it's loaded in MGRS coordinate, and the MGRS grid is determined by the coordinates of lanelet2_map.osm. Thus, those who are using local coordinate will be affected, so please kindly add map_projector_info.yaml in your map directory.

sample-map-rosbag
├── lanelet2_map.osm
├── pointcloud_map.pcd
├── map_projector_info.yaml
└── pointcloud_map_metadata.yaml

If you have any troubles related to maps (e.g. visualization on RViz), please go through Map component design doc in Autoware Documentation. In addition, the readme of map_loader and map_projection_loader may also be helpful.

Related links

• Discussion
• One of the PRs