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How to load .kml to OpenPlanner?

asked 2019-11-03 05:59:35 -0500

wsung1 gravatar image

updated 2019-11-03 06:00:34 -0500


Please advise me how to load .kml into OpenPlanner, which is an alternative vector map to .csv. It seems that the current versions of OpenPlanner do not allow users to select different map sources (e.g. .kml) through their UI. Thanks in advance!

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answered 2019-11-03 23:30:02 -0500

Hatem gravatar image

Hello, You can specify the map format and the path in the .launch files for OpenPlanner nodes.

  • op_global_planner.launch
  • op_common_params.launch


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Thanks, Hatem!

As advised, these two launch files are edited, if using op_global_planner.launch as an example,

<arg name="mapSource" default="2"/> <arg name="mapFileName" default="/home/sws/.autoware/data/map/moriyama_complete_2018.kml"/>

By doing this, the previous vector map format .csv is replaceable with .kml.

wsung1 gravatar image wsung1  ( 2019-11-04 06:46:06 -0500 )edit

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Asked: 2019-11-03 05:59:35 -0500

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Last updated: Nov 03 '19