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High-Precision Map Files

  • PCD File: Generated from data collection to create the point cloud map.
  • Lanelet2 File: Vector map drawn based on relevant road information.
  • YAML File: Outputs coordinate origin information during mapping.
  • Station File: Information on operational route stations (optional).

Steps to Organize Map Files

  1. Create a New Folder: In the map directory, create a new folder and place the following files inside:

map

PCD File Name: pointcloud_map.pcd
Lanelet2 File Name: lanelet2_map.osm
YAML File Name: map_projector_info.yaml
Station File Name: stations.yaml (optional)

Note: Please adhere strictly to the specified file names; otherwise, the map will fail to load.

  1. Create a Soft Link to the Main Folder:
  2. E: Create a soft link for the factory_in folder to the main directory:

map2

ln -s factory_in/ main