Re-running the AVP demo with my own map
I need to re-run Autoware.Auto's AVP demo with my own map. Here's what I got until now:
-
A .pcd file describing an area by driving my vehicle with lidar.
-
A semantic map created by ASSURE mapping tool: link
The problem is while the .osm map looks applicable, lanelet2_global_path_planner_node
causes system exit code -11
because parking_id_list
is null . Code in link. I then figured out, also mentioned in #620 (closed) that in order to work appropriately, start pose and goal pose must be set at parking spots (to my understanding, they're literally, actual "parking spots", and lanes with parking settings). I tried re-creating my .osm file by manually copying the parking settings of lanes and ways, ... in the original .osm file. But this is absolutely not a wise approach.
I tried to make a quick workaround by directly taking your own map, rotated it using JOSM, exported, loaded it with the AVP demo, and tried to align so that it best matches my .pcd point cloud at some parts. The trajectory was successfully created and looked reasonable in Rviz. But for actually running with my own map, this is also not a way.
My question is how to reproduce a decent semantic map that can be used by lanelet2_global_path_planner
node to produce a good trajectory:
- What are the parking settings that I need to set, so that I can set goal pose on parking lots, and lanes like AVP does?
- How can they be specifically implemented using ASSURE mapping tool? (Or other possible tools).
- I hope all of this can be done with ASSURE, because I tried Vector Map Builder ll2, MapToolBox, but they're both bulky and hard to approach, while I only need a very simple prototype (start pose and goal pose being on a straight lane is okay) to run. And even if I successfully create a map with "parking spots" and "lanes with parking settings", I doubt it's not likely to meet what AVP demo expects to run successfully.
- Could you help me listing the details of them, or, hopefully make a video to demonstrate the process?
I think a lot of people are facing the same situation. I've been struggling for over a week. Please give me some details. Huge thanks to you.