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feat(autoware_lanelet2_map_visualizer): porting autoware_lanelet2_map_visualizer from autoware_universe #428

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feat(autoware_lanelet2_map_visualizer): porting autoware_lanelet2_map_visualizer from autoware_universe #428

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647e3ae
feat(autoware_lanelet2_map_visualizer): porting autoware_lanelet2_map…
NorahXiong May 8, 2025
65e3483
chore(autoware_lanelet2_map_visualizer): reset version info
NorahXiong May 8, 2025
c960556
Merge branch 'main' into porting/autoware_lanelet2_map_visualizer
mitsudome-r May 9, 2025
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18 changes: 18 additions & 0 deletions map/autoware_lanelet2_map_visualizer/CMakeLists.txt
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cmake_minimum_required(VERSION 3.14)
project(autoware_lanelet2_map_visualizer)

find_package(autoware_cmake REQUIRED)
autoware_package()

ament_auto_add_library(lanelet2_map_visualization_node SHARED
src/lanelet2_map_visualization_node.cpp
)

rclcpp_components_register_node(lanelet2_map_visualization_node
PLUGIN "autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode"
EXECUTABLE lanelet2_map_visualization
)

ament_auto_package(INSTALL_TO_SHARE
launch
)
21 changes: 21 additions & 0 deletions map/autoware_lanelet2_map_visualizer/README.md
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# autoware_lanelet2_map_visualizer package

This package provides the features of visualizing the lanelet2 maps.

## lanelet2_map_visualization

### Feature

lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray.

### How to Run

`ros2 run autoware_lanelet2_map_visualizer lanelet2_map_visualization`

### Subscribed Topics

- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map

### Published Topics

- ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz
9 changes: 9 additions & 0 deletions map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml
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<launch>
<arg name="lanelet2_map_topic" default="vector_map"/>
<arg name="lanelet2_map_marker_topic" default="vector_map_marker"/>

<node pkg="autoware_lanelet2_map_visualizer" exec="lanelet2_map_visualization" name="lanelet2_map_visualization" output="both">
<remap from="input/lanelet2_map" to="$(var lanelet2_map_topic)"/>
<remap from="output/lanelet2_map_marker" to="$(var lanelet2_map_marker_topic)"/>
</node>
</launch>
35 changes: 35 additions & 0 deletions map/autoware_lanelet2_map_visualizer/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autoware_lanelet2_map_visualizer</name>
<version>0.0.0</version>
<description>The autoware_lanelet2_map_visualizer package</description>
<maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
<maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
<maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
<maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
<maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>
<maintainer email="taiki.yamada@tier4.jp">Taiki Yamada</maintainer>
<maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
<maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>

<license>Apache License 2.0</license>
<author email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</author>
<author email="koji.minoda@tier4.jp">Koji Minoda</author>

<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_lanelet2_extension</depend>
<depend>autoware_map_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>visualization_msgs</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>
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