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Creating an Autoware Vector Map from CARLA Point Cloud Map

asked 2019-08-17 09:37:17 -0600

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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Hi udeto,

Just wanted get your feedback. I'm trying something similar with Carla.

Were you able to create vector map for any Carla Towns? What was your experience?

Did the agent avoid obstacles after using vector map?

Thanks

Deepak63 gravatar image Deepak63  ( 2019-11-04 12:51:16 -0600 )edit

Hi have you managed to do this as i'm in the same boat now trying to generate a vector map from carla town pcd using the vector map builder yet it doesn't import it ...

sneibus gravatar image sneibus  ( 2020-12-04 08:32:43 -0600 )edit

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answered 2019-08-17 18:22:02 -0600

Masaya Kataoka gravatar image

updated 2019-08-17 18:26:03 -0600

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 image udeto  ( 2019-08-18 04:04:29 -0600 )edit

hi can you please get me the steps to use pcl tools ?

sneibus gravatar image sneibus  ( 2020-12-04 08:31:02 -0600 )edit

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Asked: 2019-08-17 09:37:17 -0600

Seen: 603 times

Last updated: Nov 04 '19