Center Line is not being displayed in rviz for op_global_planner
Hello, My team is running into an issue with our custom vector map being displayed on the rviz of autoware (v1.12) runtime manager GUI. We made our ADAS map using the official Autoware Vector Map Builder site: https://tools.tier4.jp/feature/vector...
It seems I can't upload an image here but I've included attachments for anyone to look at and hoping to help find the solution to our problem.
Steps we have followed are described below:
- we collected a data (rosbag6 in drive) of a small portion area of a training course near us.
- we used vector map builder tool to construct road edges and center line.
- we exported it to generate csv files to be loaded up in the autoware vector map under the "map" tab in runtime GUI.
Roadedges were the roadedge.csv and point.csv files
Center line were the lane.csv and node.csv files.
- For the TF, we used this tf.launch file located in the autoware.ai folder: autoware.ai/src/autoware/simulation/carla_simulator_bridge/carla_autoware_bridge/launch/tf.launch
Issue: - When we load the vector map into rviz, our road edges were displaying properly but not the center lane line. We researched this issue and we found this q&a site: https://answers.ros.org/question/3579...
According to this link, one user mentioned something about dtlane.csv. We're not sure if this is needed but we decided to remake our vector map including this but the vector map builder says that the dt.lane is not supported in this current release (https://tools.tier4.jp/vector_map_bui...).
Currently, we're trying out different alternatives for vector map building tools that supports dtlane.csv (we are open to any suggestions from anyone who knows any good mapping tools out there)
Our goal is to have the vector map working with op_global_planner for simulation. For some reason, we just couldn't get the center showing up in rviz. The only thing that we're able to see are the roadedges we created. We want the center lines in rviz so that we can make the vehicle follow whichever point we choose with the 2D Pose Estimate and 2D Nav Goal tools in rviz.
If anyone could take a look at our issue, we would be really grateful. We tested the sample_moriyama data with op_global_planner and we're able to successfully lock on the center line with 2D Pose Estimate and 2D Nav Goal and have the vehicle follow the line we made.
Also, we know that it's possible to use op_global_planner for simulation. We're also managing to see if we can have it utilized with real-time data being relayed from both our gps and lidar devices, but most specifically our gps device. We have the Xsens Mti-g-710 device for gps and imu data. Is there a way to have it showing real-time in the op_global_planner to the vector map.
rosbag6 (includes the rosbag, vectormap csv files, and pcd map) link text