How can I generate the local_map to launch msf_localization

[wqklihbf]

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1. I first modify the file: apollo/modules/dreamview/conf/hmi_modes/mkz_standard_debug.pb.txt to launch rtk_localization
2. I launch 5 modules, including Control, Localization, Prediction, Planning, Routing.
3. I set the start and end points, click "Send Route Request," and then launch the Record module to get some record files.
4. I use the msf_simple_map_creator.sh script to generate the local_map. The command is that: bash /apollo/scripts/msf_simple_map_creator.sh /apollo/record_file/0324/ /apollo/modules/localization/msf/params/velodyne_params/velodyne64_novatel_extrinsics_example.yaml 31 /apollo/records/mymap
5. But I meet the error:
6. I get the folder local_map. I put it in the /apollo/modules/map/data/carla_town01/ file directory. But When I launch the msf_lcoalization, it shows like this: I want to know how to generate the local_map to launch msf_localization.

[hliu-work]

I have the same problem! +1

[wqklihbf]

I have the same problem! +1

Hi, I try to modify this part of the code(modules/localization/msf/local_pyramid_map/base_map/base_map_node.cc: Save()):

  FILE* file = fopen(path.c_str(), "wb");
  if (file) {
    bool success = CreateBinary(file);
    fclose(file);
    is_changed_ = false;
    return success;
  } else {
    AERROR << "Can't write to file: " << path << ".";
    return false;
  }

to Then some changes occurred： Unfortunately, this is abnormal. If you have any solutions, please let me know. Thanks, I've been troubled for a long time. Looking forward to your reply.