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feat(map_loader): display curbstone as marker array #820

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feat(map_loader): display curbstone as marker array #820

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8 changes: 7 additions & 1 deletion map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -127,13 +127,14 @@ void Lanelet2MapVisualizationNode::onMapBin(
lanelet::utils::query::getAllPolygonsByType(viz_lanelet_map, "hatched_road_markings");
std::vector<lanelet::NoParkingAreaConstPtr> no_parking_reg_elems =
lanelet::utils::query::noParkingAreas(all_lanelets);
lanelet::ConstLineStrings3d curbstones = lanelet::utils::query::curbstones(viz_lanelet_map);

std_msgs::msg::ColorRGBA cl_road, cl_shoulder, cl_cross, cl_partitions, cl_pedestrian_markings,
cl_ll_borders, cl_shoulder_borders, cl_stoplines, cl_trafficlights, cl_detection_areas,
cl_speed_bumps, cl_crosswalks, cl_parking_lots, cl_parking_spaces, cl_lanelet_id,
cl_obstacle_polygons, cl_no_stopping_areas, cl_no_obstacle_segmentation_area,
cl_no_obstacle_segmentation_area_for_run_out, cl_hatched_road_markings_area,
cl_hatched_road_markings_line, cl_no_parking_areas;
cl_hatched_road_markings_line, cl_no_parking_areas, cl_curbstones;
setColor(&cl_road, 0.27, 0.27, 0.27, 0.999);
setColor(&cl_shoulder, 0.15, 0.15, 0.15, 0.999);
setColor(&cl_cross, 0.27, 0.3, 0.27, 0.5);
Expand All @@ -156,6 +157,7 @@ void Lanelet2MapVisualizationNode::onMapBin(
setColor(&cl_hatched_road_markings_area, 0.3, 0.3, 0.3, 0.5);
setColor(&cl_hatched_road_markings_line, 0.5, 0.5, 0.5, 0.999);
setColor(&cl_no_parking_areas, 0.42, 0.42, 0.42, 0.5);
setColor(&cl_curbstones, 0.1, 0.1, 0.2, 0.999);

visualization_msgs::msg::MarkerArray map_marker_array;

Expand Down Expand Up @@ -242,6 +244,10 @@ void Lanelet2MapVisualizationNode::onMapBin(
&map_marker_array,
lanelet::visualization::noParkingAreasAsMarkerArray(no_parking_reg_elems, cl_no_parking_areas));

insertMarkerArray(
&map_marker_array,
lanelet::visualization::lineStringsAsMarkerArray(curbstones, "curbstone", cl_curbstones, 0.2));

pub_marker_->publish(map_marker_array);
}

Expand Down
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