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feat(autoware_static_centrline_generator): load projecter info from yaml file #333

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feat(autoware_static_centrline_generator): load projecter info from yaml file #333

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365c8e0
load projecter info from yaml file
saka1-s Jan 6, 2026
afafe8d
fix clang
saka1-s Jan 6, 2026
517ffe7
Merge branch 'main' into tmp/static_centerline_generator-tm
soblin Jan 21, 2026
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4 changes: 2 additions & 2 deletions planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
<arg name="centerline_source" default="optimization_trajectory_base" description="select from optimization_trajectory_base and bag_ego_trajectory_base"/>

<!-- mandatory arguments when mode is AUTO -->
<arg name="lanelet2_input_file_path" default=""/>
<arg name="lanelet2_input_dir_path" default="/opt/autoware/maps"/>
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@mitsudome-r mitsudome-r Jan 6, 2026

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The PR replaces lanelet2_input_file_path with lanelet2_input_dir_path and introduces assumption that the file names would be "lanelet2_map.osm" and "map_projector_info.yaml", which may not be always true.
Instead, I suggest to change as the following to keep the flexibility to specify the files with different file names.

Suggested change
<arg name="lanelet2_input_dir_path" default="/opt/autoware/maps"/>
<arg name="map_dir_path" default="/opt/autoware/maps"/>
<arg name="lanelet2_input_file_path" default="$(var map_dir_path)/lanelet2_map.osm"/>
<arg name="map_projector_info_file_path" default="$(var map_dir_path)/map_projector_info.yaml"/>

Then, the node could take in two parameters, "lanelet2_input_file_path" and "map_projector_info_file_path", and load them respectively instead of internally generating the full path inside the node.

<arg name="lanelet2_output_file_path" default="/tmp/autoware_static_centerline_generator/lanelet2_map.osm"/>
<arg name="start_lanelet_id" default="0"/>
<arg name="start_pose" default="[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]"/>
Expand Down Expand Up @@ -69,7 +69,7 @@
<remap from="input_centerline" to="~/input_centerline"/>

<param name="mode" value="$(var mode)"/>
<param name="lanelet2_input_file_path" value="$(var lanelet2_input_file_path)"/>
<param name="lanelet2_input_dir_path" value="$(var lanelet2_input_dir_path)"/>
<param name="lanelet2_output_file_path" value="$(var lanelet2_output_file_path)"/>
<param name="start_lanelet_id" value="$(var start_lanelet_id)"/>
<param name="start_pose" value="$(var start_pose)"/>
Expand Down
45 changes: 28 additions & 17 deletions planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@
#include "static_centerline_generator_node.hpp"

#include "autoware/map_loader/lanelet2_map_loader_node.hpp"
#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp"
#include "autoware/map_projection_loader/map_projection_loader.hpp"
#include "autoware/motion_utils/resample/resample.hpp"
#include "autoware/motion_utils/trajectory/conversion.hpp"
Expand Down Expand Up @@ -332,13 +331,14 @@ void StaticCenterlineGeneratorNode::visualize_selected_centerline()
void StaticCenterlineGeneratorNode::generate_centerline()
{
// declare planning setting parameters
const auto lanelet2_input_file_path = declare_parameter<std::string>("lanelet2_input_file_path");
if (lanelet2_input_file_path == "") {
throw std::invalid_argument("The `lanelet2_input_file_path` is empty.");
const auto lanelet2_input_dir_path = declare_parameter<std::string>("lanelet2_input_dir_path");
if (lanelet2_input_dir_path == "") {
throw std::invalid_argument(
"The `lanelet2_input_dir_path` is empty. Please set a directory path. (Not a file path)");
}

// process
load_map(lanelet2_input_file_path);
load_map(lanelet2_input_dir_path);
const auto whole_centerline_with_route = generate_whole_centerline_with_route();
centerline_handler_ = CenterlineHandler(whole_centerline_with_route);

Expand Down Expand Up @@ -471,38 +471,44 @@ CenterlineWithRoute StaticCenterlineGeneratorNode::generate_whole_centerline_wit
return centerline_with_route;
}

void StaticCenterlineGeneratorNode::load_map(const std::string & lanelet2_input_file_path)
void StaticCenterlineGeneratorNode::load_map(const std::string & lanelet2_input_dir_path)
{
// construct file paths from directory path
const std::string lanelet2_map_file_path = lanelet2_input_dir_path + "/lanelet2_map.osm";
const std::string map_projector_info_file_path =
lanelet2_input_dir_path + "/map_projector_info.yaml";

// copy the input LL2 map to the temporary file for debugging
const std::string debug_input_file_dir{"/tmp/autoware_static_centerline_generator/input/"};
std::filesystem::create_directories(debug_input_file_dir);
std::filesystem::copy(
lanelet2_input_file_path, debug_input_file_dir + "lanelet2_map.osm",
lanelet2_map_file_path, debug_input_file_dir + "lanelet2_map.osm",
std::filesystem::copy_options::overwrite_existing);

// load map by the map_loader package
map_bin_ptr_ = [&]() -> LaneletMapBin::ConstSharedPtr {
// load map
map_projector_info_ = std::make_unique<MapProjectorInfo>(
autoware::map_projection_loader::load_info_from_lanelet2_map(lanelet2_input_file_path));
// load map projector info
map_projector_info_ =
std::make_unique<MapProjectorInfo>(autoware::map_projection_loader::load_map_projector_info(
map_projector_info_file_path, lanelet2_map_file_path));
const auto map_ptr = autoware::map_loader::Lanelet2MapLoaderNode::load_map(
lanelet2_input_file_path, *map_projector_info_);
lanelet2_map_file_path, *map_projector_info_);
if (!map_ptr) {
return nullptr;
}

// NOTE: The original map is stored here since the centerline will be added to all the
// lanelet when lanelet::utils::overwriteLaneletCenterline is called.
original_map_ptr_ = autoware::map_loader::Lanelet2MapLoaderNode::load_map(
lanelet2_input_file_path, *map_projector_info_);
lanelet2_map_file_path, *map_projector_info_);

// overwrite more dense centerline
// NOTE: overwriteLaneletsCenterlineWithWaypoints is used only in real time calculation.
lanelet::utils::overwriteLaneletsCenterline(map_ptr, 5.0, false);

// create map bin msg
const auto map_bin_msg = autoware::map_loader::Lanelet2MapLoaderNode::create_map_bin_msg(
map_ptr, lanelet2_input_file_path, now());
map_ptr, lanelet2_map_file_path, now());

return std::make_shared<LaneletMapBin>(map_bin_msg);
}();
Expand All @@ -526,16 +532,21 @@ void StaticCenterlineGeneratorNode::load_map(const std::string & lanelet2_input_
void StaticCenterlineGeneratorNode::on_load_map(
const LoadMap::Request::SharedPtr request, const LoadMap::Response::SharedPtr response)
{
const std::string tmp_lanelet2_input_file_path = "/tmp/input_lanelet2_map.osm";
const std::string tmp_lanelet2_input_dir_path = "/tmp/input_lanelet2_map";
const std::string tmp_lanelet2_input_file_path =
tmp_lanelet2_input_dir_path + "/lanelet2_map.osm";

// create temporary directory
std::filesystem::create_directories(tmp_lanelet2_input_dir_path);

// save map file temporarily since load map's input must be a file
// save map file temporarily since load map's input must be a directory
std::ofstream map_writer;
map_writer.open(tmp_lanelet2_input_file_path, std::ios::out);
map_writer << request->map;
map_writer.close();

// load map from the saved map file
load_map(tmp_lanelet2_input_file_path);
// load map from the saved map directory
load_map(tmp_lanelet2_input_dir_path);

if (map_bin_ptr_) {
return;
Expand Down
2 changes: 1 addition & 1 deletion planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,7 +125,7 @@ class StaticCenterlineGeneratorNode : public rclcpp::Node

private:
// load map
void load_map(const std::string & lanelet2_input_file_path);
void load_map(const std::string & lanelet2_input_dir_path);
void on_load_map(
const LoadMap::Request::SharedPtr request, const LoadMap::Response::SharedPtr response);

Expand Down
2 changes: 1 addition & 1 deletion ...re_static_centerline_generator/test/utils/test_static_centerline_generator_launch_base.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ def generate_test_description_impl(
launch_description.append(DeclareLaunchArgument("mode", default_value=mode))
if map_path:
launch_description.append(
DeclareLaunchArgument("lanelet2_input_file_path", default_value=map_path)
DeclareLaunchArgument("lanelet2_input_dir_path", default_value=map_path)
)
if centerline_source:
launch_description.append(
Expand Down
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