Make Carla Map usable for Autoware

[MichaelW93]

Hello,

we have created a custom Map for Carla, which works just fine. Now we want to use autoware to drive our vehicle in the town. I was already able to create a point cloud of the Town using the pcl_recorder. We now want autoware to calculate its own path. For this, autoware requires a vector map of the town afaik Until now I was not able to find a way to convert our town into the proper format needed by autoware. So how do I create a vector map of our carla map for autoware, or how was it done with the already provided ones. Much thanks in advance!

[Esquilli]

Hey @MichaelW93, This week I had to do the same thing. My steps to get my custom map into Autoware were:

1. RoadRunner - OpenDRIVE file (.xodr)

2. Assure Mapping Tool - Lanelet2 (.xodr to .osm)

3. Autoware lanelet2aisan - Aisan vector map (.osm to .csv)

4. Place your map files into their respective folder inside Autoware's docker like this:

   • PCD: /home/autoware/autoware-contents/maps/point_cloud_maps/MyCustomMap.pcd
   • Aisan: /home/autoware/autoware-contents/maps/vector_maps/asian/MyCustomMap./<'all generated files'>.csv
   • Lanelet2: /home/autoware/autoware-contents/maps/vector_maps/lanelet2/MyCustomMap.osm

5. Launch Autoware roslaunch carla_autoware_agent carla_autoware_agent.launch town:=MyCustomMap

Notes:

• Currently, CARLA's Autoware only load the PCD and Aisan maps.
• I'm having an issue in which the PCD and the vector map doesn't match. They are misaligned.

[athulg]

Hey @Esquilli , I'm new to this and I'm trying to convert .osm to .csv using lanelet2aisan. Can you please guide me on where to run the command(steps required) rosrun lanelet_aisan_converter lanelet2aisan _map_file:=<path to lanelet map> _origin_lat:=<latitude of origin for XYZ projection> _origin_lon:=<longitude of origin for XYZ projection> _save_dir:=<optional: path to save dir>

Thanks!

[Esquilli]

@athulg You need to run that command inside the carla-autoware docker. You can run roscore outside the docker, but that commands still needs to be run inside the docker container.

[athulg]

@Esquilli Thanks a lot!

[Esquilli]

@athulg Let me know if after exporting the map and trying it on Autoware you get the same issue as me (mismatched/misaligned maps). Did you used Assure mapping tool?

[athulg]

@Esquilli I'm sorry I actually don't remember how I got the .osm file. But, now I've a different issue after exporting it on Autoware (Unintialized quaternion, assuming identity) in Rviz

[Esquilli]

I haven't experienced that issue myself, so I don't know how to help you on that one.