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feat(map): add differential lanelet loading #6241

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feat(map): add differential lanelet loading #6241

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StepTurtle
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@StepTurtle StepTurtle commented Jan 30, 2024 •
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Description

Dynamically load Lanelet2 maps required for the current driving situation, aiming to avoid time consumption and reduce computational costs in the planning pipeline, while also addressing long-term issues associated with Lanelet2 map projection.

Related links

Proposal Link

Tests performed

You can check the update comment in proposal to see current test results.

short.mp4

To test on your local environment, follow these steps:

  1. Download the example map from the following link: link
  2. Ensure you have the latest changes related to dynamic lanelet loading by incorporating the following PRs:
  1. Make true enable_differential_map_loading argument from src/launch/autoware_launch/autoware_launch/launch/components/tier4_planning_component.launch file:
  2. Make true enable_differential_map_loading argument from src/launch/autoware_launch/autoware_launch/launch/components/tier4_map_component.launch file:
  3. Run planning simulator and add /map/dynamic_vector_map_marker topic to Rviz. After you provide a 2D position, the dynamic should be loaded. (It looks with dark grey color.)
  • ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/dummy_800_4/ vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

Documentation:

Notes for reviewers

Interface changes

Effects on system behavior

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@github-actions github-actions bot added the component:map Map creation, storage, and loading. (auto-assigned) label Jan 30, 2024
@github-actions github-actions bot added the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Feb 9, 2024
@StepTurtle StepTurtle changed the title feat(map_loader): add differential lanelet loading feat(map): add differential lanelet loading Feb 9, 2024
@github-actions github-actions bot added the component:common Common packages from the autoware-common repository. (auto-assigned) label Feb 12, 2024
@mitsudome-r mitsudome-r marked this pull request as ready for review February 19, 2024 08:30
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@StepTurtle Thanks for the PR.
Did you have any chance to test with this PR to see if nodes that receives lanelet map work correctly or not? For example, I would like to make sure that there is no rise in latency with planning output when the planner nodes receives a new map tile since they would have to do preprocessing of the map before it can be used for planning.

@mehmetdogru mehmetdogru force-pushed the feat/add_dynamic_lanelet_loading branch from 0b57570 to 1275f6f Compare February 27, 2024 15:23
@StepTurtle StepTurtle force-pushed the feat/add_dynamic_lanelet_loading branch from 3f87732 to e02348d Compare February 28, 2024 14:13
Barış Zeren and others added 13 commits March 24, 2025 23:42
@mitsudome-r
fix: json schema check
72295b5 
Signed-off-by: Barış Zeren <baris@leodrive.ai>
@mitsudome-r
fix: add region check
23ac66f 
Signed-off-by: Barış Zeren <baris@leodrive.ai>
@mitsudome-r
chore: make enable_differential_loading default true
a09db21 
Signed-off-by: Barış Zeren <baris@leodrive.ai>
@mitsudome-r
fix: json schema check
a14d203 
Signed-off-by: Barış Zeren <baris@leodrive.ai>
@mitsudome-r
chore: update maintainers
a0d49e0 
Signed-off-by: Barış Zeren <baris@leodrive.ai>
@mitsudome-r
chore: update map_loader documentation
80f7ffa 
Signed-off-by: Barış Zeren <baris@leodrive.ai>
@pre-commit-ci @mitsudome-r
style(pre-commit): autofix
463bfeb
@mitsudome-r
chore: autoware_dynamic_lanelet_provider README.md
fcb8de1 
Signed-off-by: Barış Zeren <baris@leodrive.ai>
@mitsudome-r
chore: update map_loader README.md
a36d7ed 
Signed-off-by: Barış Zeren <baris@leodrive.ai>
@StepTurtle @YamatoAndo @mitsudome-r
Update dependencies
62633d9 
Co-authored-by: Yamato Ando <yamato.ando@gmail.com>
@pre-commit-ci @mitsudome-r
style(pre-commit): autofix
1184aad
@StepTurtle @YamatoAndo @mitsudome-r
fix: wrong msg type in README.md
8aa51d4 
Co-authored-by: Yamato Ando <yamato.ando@gmail.com>
@StepTurtle @YamatoAndo @mitsudome-r
chore: remove unused dep.
c7cb15a 
Co-authored-by: Yamato Ando <yamato.ando@gmail.com>
@mitsudome-r mitsudome-r force-pushed the feat/add_dynamic_lanelet_loading branch from 196e205 to 21428db Compare March 24, 2025 14:42
pre-commit-ci bot and others added 15 commits March 25, 2025 00:20
@pre-commit-ci @mitsudome-r
style(pre-commit): autofix
5b1d3c0
@mitsudome-r
fix: move header files
3129244 
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
@mitsudome-r
fix: replace tier4_map_msgs with autoware_map_msgs
a66c91f 
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
@mitsudome-r
fix: fix test in autoware_component_interface_specs_universe
cacb282 
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
@mitsudome-r
refactor: improve handling of multiple lanelet2 paths
4833a4f 
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
@mitsudome-r
refactor: move common functions to util.hpp
7ff88ca 
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
@mitsudome-r
fix: remove get_dummy_metadata function
7eece42 
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
@mitsudome-r
fix: colcon build and test error
f26113a 
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
@mitsudome-r
feat: apply centerline resolution in differential map loader
b07182d 
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
@mitsudome-r
feat: make lanelet2 map loader utils functions public
3d86486 
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
@mitsudome-r
fix: routing error
90285d4 
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
@pre-commit-ci @mitsudome-r
style(pre-commit): autofix
f065d57
@mitsudome-r
feat: put back get_dummy_meta_data
3544363 
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
@mitsudome-r
fix: modify function names to snake_case
85354b2 
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
@mitsudome-r
feat: put back lanelet2_map_loader_ndoe.hpp in public include
169cf80 
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
@mitsudome-r mitsudome-r force-pushed the feat/add_dynamic_lanelet_loading branch from fca09e8 to 169cf80 Compare March 24, 2025 15:26
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component:common Common packages from the autoware-common repository. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) component:map Map creation, storage, and loading. (auto-assigned) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) type:documentation Creating or refining documentation. (auto-assigned)
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@StepTurtle @mitsudome-r @ataparlar @yukkysaito @YamatoAndo @maxime-clem @anhnv3991