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Creating an Autoware Vector Map from CARLA Point Cloud Map

asked 2019-08-17 09:37:17 -0500

udeto gravatar image

Hello,

I am running Autoware (1.12.0) with Carla (0.9.5) using a ROS bridge. The bridge works fine, but the agent does not avoid obstacles. LiDAR Euclidean clustering detects objects and passes them on to the costmap generator. The costmap generator however does not have any output. I suspect that the problem is the missing vector map.

Therefore I tried to create a verctor map based on the point cloud map, using Autowares Vector Map Builder (https://tools.tier4.jp/feature/vector...). But when I try to upload the Carla PCD file nothing happens. Apparently the Vector Map Builder can not import binary compressed PCD files.

This error appears in the console of the Vector Map Builder

THREE.PCDLoader: binary_compressed files are not supported

Is there a way to import binary compressed files, or a way to uncompress the file?

Thanks for yours support!

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answered 2019-08-17 18:22:02 -0500

Masaya Kataoka gravatar image

updated 2019-08-17 18:26:03 -0500

Hi! Vector map tool can only read ascii. So, you should convert by using pcl_tools. It is a command line tools for pcl.

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Thank you! Converting using pcl_tool worked!

udeto gravatar imageudeto ( 2019-08-18 04:04:29 -0500 )edit

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Asked: 2019-08-17 09:37:17 -0500

Seen: 52 times

Last updated: Aug 17