I have Autoware.Auto docker image on Ubuntu 20.04. I can visualize autonomoustuffparkinglot.osm map in rviz and now I want to try a basic SingleLaneRoad map instead of default autonomoustuffparkinglot map. For this I changed the values of variables below for the new map

• "maposmfile" in avp_core.launch.py script,
• "mappcdfile" and "mapyamlfile" in the avp_sim.launch.py script.

They had those values in the code:

• maposmfile = autonomoustuffparkinglot.osm
• mappcdfile = autonomoustuffparkinglot_lgsvl.pcd
• mapyamlfile = autonomoustuffparkinglot_lgsvl.yaml

I followed this answer and made also the following changes:

• maposmfile path added lanelet2mapprovider.param.yaml
• mappcdfile and mapyamlfile changed in map_publisher.param.yaml

I downloaded SingleLaneRoad.osm file from LGSVL simulator and SingleLaneRoad.pcd file from this repo. However, I couldn't find SingleLaneRoad.yaml file. How can I find it?

I tried to replicate SingleLaneRoad.yaml file and tested the code. The map is not loaded in rviz and there is Frame [map] does not exit error. Maybe the reason is the missing yaml file, but I am not sure. What else should I do? Any help appreciated, I really stuck.