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@doodleshr You cannot use an "HD Map" (specifically the semantic portion that you mention) for localization because there are not enough physical landmarks in the environment to accurately reference your location in the semantic map. Let's say you're on a long, straight stretch of road heading North with the same speed limit for the entire section. If you localize only using the lane markings on your right and left (East and West), how would you know how far North or South you are?
As for the HD map format, we will be using Lanelet2. I say "will be" because this functionality is still being implemented in our current milestone in Autoware.AUTO. You can follow along with our progress in this issue.
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