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[Autoware] Create custom map - osm file version

asked 2021-08-09 10:05:53 -0500

definitive gravatar image

updated 2021-08-09 16:19:34 -0500

I'm trying to pass custom map using map publisher and lanelet2 map provider configs. Using recorded pointcloud data, ndt mapper and vector map builder I already created a new pcd map with corresponding semantic map. Then I changed mentioned above config to load new files.

  1. I couldn't load pcd map. Looking into default .pcd file I noticed some differences. Ndt mapper produce pointcloud map using 4 channels (x, y, z, intensity). So I just remove the last channel and map was loaded successfully. But is it possible to load properly 4 channels .pcd file?
  2. I still can't load .osm file. Again, there are some differences:
  • part of autoware included file:

<osm version='0.6' generator='JOSM'>

<node id='1001' visible='true' version='1' lat='37.38143282929' lon='-121.90825956337'>

<tag k='ele' v='-1.4483755826950073' />


  • part of my custom file (created with vector map builder):

<osm generator="VMB">

<MetaInfo format_version="1" map_version="4"/>

<node id="1" lat="" lon="">

<tag k="mgrs_code" v="99XXX000000"/>

<tag k="local_x" v="52.9384"/>

<tag k="local_y" v="38.5049"/>

<tag k="ele" v="0"/>


In rviz I can see new pcd map without semantic map. The /had_maps/viz_had_map topic returns error Contains invalid floating point values (nans or infs). Are these differences in the .osm file version causing the maps to load incorrectly?

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answered 2021-08-18 08:02:23 -0500

Aleksandr Savel'ev gravatar image

Hello @definitive , have a look at my Q&A HERE

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Asked: 2021-08-09 10:05:53 -0500

Seen: 331 times

Last updated: Aug 18 '21