Open wsung1 opened 2 weeks ago
In your lanelet map OSM file, the <node>
coordinates are available in 2 different forms: latitude/longitude and MGRS. For example:
<node id="30" lat="13.801094196677974" lon="100.54001559798192">
<tag k="mgrs_code" v="47PPR664262"/>
<tag k="local_x" v="66467.4103"/>
<tag k="local_y" v="26262.2704"/>
<tag k="ele" v="-27.514"/>
</node>
You say your map overlaps over 2 MGRS zones, which is likely the cause of issue. For example, Autoware may not check the mgrs_code
or local_x
/local_y
files under some conditions, while the lanelet map editor will correctly parse them (see https://autowarefoundation.github.io/autoware.universe/main/map/autoware_map_projection_loader/).
For example if you have set the map projector to MGRS in the map_projector_info.yaml
file, then the local x/y coordinates are ignored and only each lat
and lon
values are used. This projector assumes all points are in the same MGRS zone. If that is not the case, you should see the following warning:
Checklist
Description
Hi, Autoware community, The mapping site I'm currently working on spans MGRS zones 52S CD and BD. Because the origin of the map frame is based on the MGRS 52S CD coordinate system, some points in the pointcloud map have negative xy-coordinates. Based on this pointcloud map, I created a vector map using a bag2lanelet package. When I loaded the created lanelet into the Vector Map Builder, it appeared correct, but I found an error indicating that some points have negative xy-coordinates in the MGRS coordinate system. I overlooked this Any idea to address this problem?error, as the map seemed plausible. However, when I imported the resulting OSM file into Autoware, the lanelet was totally distorted. The grey line that should encircle the building in the center is missing, as shown below. Has anyone encountered similar issues or have any suggestions for addressing this problem? Your input would be greatly appreciated! Thanks in advance!
Expected behavior
As described above
Actual behavior
As described above
Steps to reproduce
As described above
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Possible causes
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Additional context
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