From e3ce3fb4e5d08b49e121a3611bfb039906f7d897 Mon Sep 17 00:00:00 2001 From: kminoda Date: Wed, 8 Nov 2023 08:57:44 +0900 Subject: [PATCH] add related links Signed-off-by: kminoda --- docs/how-to-guides/others/using-divided-map.md | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/docs/how-to-guides/others/using-divided-map.md b/docs/how-to-guides/others/using-divided-map.md index 360d6dcab85..c6cc93759be 100644 --- a/docs/how-to-guides/others/using-divided-map.md +++ b/docs/how-to-guides/others/using-divided-map.md @@ -1,6 +1,6 @@ # Using divided pointcloud map -Divided pointcloud map is necessary when handling large pointcloud map, in which case Autoware may not be capable of sending the whole map via ROS 2 topic or loading the whole map into memory. By using the pre-divided map, Autoware will dynamically load the pointcloud map according to the vehicle's position. For specific format definition of the divided map, please refer to [Map component design page](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/map/). +Divided pointcloud map is necessary when handling large pointcloud map, in which case Autoware may not be capable of sending the whole map via ROS 2 topic or loading the whole map into memory. By using the pre-divided map, Autoware will dynamically load the pointcloud map according to the vehicle's position. ## Tutorial @@ -20,3 +20,9 @@ ros2 launch autoware_launch logging_simulator.launch.xml \ map_path:=$HOME/autoware_map/sample-map-rosbag pointcloud_map_file:=pointcloud_map \ vehicle_model:=sample_vehicle_split sensor_model:=sample_sensor_kit ``` + +## Related links + +- For specific format definition of the divided map, please refer to [Map component design page](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/map/) +- [The Readme of map_loader](https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_loader) may be useful specific instructions for dividing maps +- When dividing your own pointcloud map, you may use [pointcloud_divider](https://github.com/MapIV/pointcloud_divider), which can divide the map as well as generating the compatible metadata