feat: add autoware_lanelet2_map_divider package by mitsudome-r · Pull Request #409 · autowarefoundation/autoware_tools

mitsudome-r · 2026-04-22T07:48:47Z

Description

This is part of autowarefoundation/autoware_core#887

Add a new autoware_lanelet2_map_divider package that splits a single Lanelet2 (.osm) map into grid-aligned segments and emits a metadata file compatible with lanelet2_map_loader's selected-map-loading mode.

New ROS 2 node autoware_lanelet2_map_divider_node with a launch file
Loads the input map using the projector from map_projector_info.yaml (MGRS, LocalCartesianUTM, LocalCartesian, TransverseMercator, and Local supported), computes the axis-aligned bounding box of all points, and queries laneletLayer, areaLayer, lineStringLayer, and pointLayer per cell to build per-cell LaneletMaps.
Writes one <prefix>_<gx>_<gy>.osm file per non-empty cell under <OUTPUT_DIR>/lanelet2_map.osm/ with the same projector used at load time, plus lanelet2_map_metadata.yaml (x_resolution, y_resolution, and file: [min_x, min_y] entries).
Includes README and a gtest suite (test_lanelet2_map_divider).

How was this PR tested?

Built the package with colcon build --packages-select autoware_lanelet2_map_divider.
Ran the included gtest suite (test_lanelet2_map_divider) via colcon test.
Verified end-to-end by running the divider on a sample lanelet2_map.osm, inspecting the generated lanelet2_map.osm/<gx>_<gy>.osm files and lanelet2_map_metadata.yaml, and confirming lanelet2_map_loader can consume the output in selected-map-loading mode.

Notes for reviewers

None.

Effects on system behavior

None.

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>

github-actions · 2026-04-22T07:48:58Z

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Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>

Copilot

Pull request overview

Adds a new autoware_lanelet2_map_divider ROS 2 package to split a single Lanelet2 .osm into grid-aligned per-cell map files and emit lanelet2_map_metadata.yaml compatible with lanelet2_map_loader’s selected-map-loading mode.

Changes:

Introduces Lanelet2MapDivider library and Lanelet2MapDividerNode component/executable for dividing and exporting per-cell .osm tiles + metadata.
Adds launch/config/schema + README documenting usage and output format.
Adds a gtest suite that builds a synthetic map, runs the divider, and validates output tiles/metadata.

Reviewed changes

Copilot reviewed 12 out of 12 changed files in this pull request and generated 8 comments.

Show a summary per file

File	Description
map/autoware_lanelet2_map_divider/src/lanelet2_map_divider.cpp	Core map loading, grid partitioning, tile writing, and metadata generation
map/autoware_lanelet2_map_divider/src/lanelet2_map_divider.hpp	Public API for configuring/running the divider
map/autoware_lanelet2_map_divider/src/lanelet2_map_divider_node.cpp	ROS 2 node wrapper to run divider from parameters
map/autoware_lanelet2_map_divider/src/lanelet2_map_divider_node.hpp	Node declaration
map/autoware_lanelet2_map_divider/src/local_projector.hpp	Local projector helper for `projector_type: Local`
map/autoware_lanelet2_map_divider/test/test_lanelet2_map_divider.cpp	gtest coverage for tiling + metadata behaviors
map/autoware_lanelet2_map_divider/launch/lanelet2_map_divider.launch.xml	Launch entrypoint with args and parameter wiring
map/autoware_lanelet2_map_divider/config/lanelet2_map_divider.param.yaml	Default parameter file used by launch
map/autoware_lanelet2_map_divider/schema/lanelet2_map_divider.schema.json	Parameter schema for documentation/validation
map/autoware_lanelet2_map_divider/README.md	User-facing documentation and format description
map/autoware_lanelet2_map_divider/CMakeLists.txt	Build/test targets and component registration
map/autoware_lanelet2_map_divider/package.xml	Package dependencies and metadata

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Copilot · 2026-04-22T08:47:15Z

+void Lanelet2MapDivider::prepare_output_directory(const std::string & cell_dir) const
+{
+  if (fs::exists(output_dir_)) {
+    fs::remove_all(output_dir_);
+  }
+  fs::create_directories(cell_dir);
+}


prepare_output_directory() unconditionally calls remove_all(output_dir_). If output_dir_ is empty (""), this resolves to the current directory and can delete the entire working tree; similarly, passing "/" (or other critical paths) would be catastrophic. Add a hard safety check in run()/prepare_output_directory() to reject empty/relative/root paths (and ideally require an absolute output directory) before deleting anything, and fail fast with a clear error log.

Copilot · 2026-04-22T08:47:15Z

+  const auto gx_start = static_cast<int>(std::floor(min_x / grid_size_x_) * grid_size_x_);
+  const auto gy_start = static_cast<int>(std::floor(min_y / grid_size_y_) * grid_size_y_);
+  const auto gx_end = static_cast<int>(std::floor(max_x / grid_size_x_) * grid_size_x_);
+  const auto gy_end = static_cast<int>(std::floor(max_y / grid_size_y_) * grid_size_y_);
+
+  RCLCPP_INFO(
+    logger_, "Map bounding box: [%.3f, %.3f] to [%.3f, %.3f]", min_x, min_y, max_x, max_y);
+  RCLCPP_INFO(
+    logger_, "Grid range (coord-aligned): x=[%d, %d], y=[%d, %d]", gx_start, gx_end, gy_start,
+    gy_end);
+
+  const auto step_x = static_cast<int>(grid_size_x_);
+  const auto step_y = static_cast<int>(grid_size_y_);
+
+  for (int gx = gx_start; gx <= gx_end; gx += step_x) {
+    for (int gy = gy_start; gy <= gy_end; gy += step_y) {


Grid stepping is computed as step_x = static_cast<int>(grid_size_x_) / step_y = static_cast<int>(grid_size_y_). This truncates non-integer grid sizes and can become 0 when grid_size_* < 1.0, causing an infinite loop in the for (int gx = ...; gx += step_x) loops. Either validate grid_size_x_/grid_size_y_ are >= 1.0 (and integral if required by the file naming/metadata format) or change the iteration/indexing to use a non-truncating type (e.g., integer millimeters or doubles with a robust rounding strategy).

Copilot · 2026-04-22T08:47:15Z

+  file << "x_resolution: " << grid_size_x_ << "\n";
+  file << "y_resolution: " << grid_size_y_ << "\n";
+  for (const auto & cell : cells) {
+    const auto & [file_name, gx, gy] = cell;
+    file << file_name << ": [" << gx << ", " << gy << "]\n";
+  }


out_cells stores (file_name, gx, gy) as integers and write_metadata() writes those as [gx, gy], but grid_size_* are doubles and the README/YAML format examples show floating coordinates. If non-integer grid sizes are allowed, this silently loses precision and produces incorrect metadata. Consider storing/writing gx/gy as doubles (or enforce/validate integer meter grid sizes and document that constraint).

Copilot · 2026-04-22T08:47:16Z

+        },
+        "input_lanelet2_map": {
+          "type": "string",
+          "description": "Path to a single .osm file or a directory containing .osm files",


This schema claims input_lanelet2_map can be a directory of .osm files, but the implementation rejects directories (is_osm_file() returns false for directories) and the README says only a single .osm file is supported. Update the schema description (and/or implementation) so parameter docs match actual behavior.

Suggested change

"description": "Path to a single .osm file or a directory containing .osm files",

"description": "Path to a single .osm file",

Copilot · 2026-04-22T08:47:16Z

+  <arg name="config_file_path" default="$(find-pkg-share autoware_lanelet2_map_divider)/config/lanelet2_map_divider.param.yaml" description="Path to the configuration YAML file"/>
+  <arg name="grid_size_x" default="100.0" description="The X size (m) of each output segment"/>
+  <arg name="grid_size_y" default="100.0" description="The Y size (m) of each output segment"/>
+  <arg name="input_lanelet2_map" description="Path to a single .osm file or a directory containing .osm files"/>


The launch argument description says input_lanelet2_map may be a directory of .osm files, but the node/tool currently rejects directory input and expects a single .osm file. Please align this description (and the param YAML/schema) with the actual supported input.

Suggested change

<arg name="input_lanelet2_map" description="Path to a single .osm file or a directory containing .osm files"/>

<arg name="input_lanelet2_map" description="Path to a single .osm file"/>

Copilot · 2026-04-22T08:47:17Z

+#include "../src/lanelet2_map_divider.hpp"
+#include "../src/local_projector.hpp"
+
+#include <rclcpp/logger.hpp>
+
+#include <gtest/gtest.h>
+#include <lanelet2_core/LaneletMap.h>
+#include <lanelet2_core/primitives/Lanelet.h>
+#include <lanelet2_core/primitives/LineString.h>
+#include <lanelet2_core/primitives/Point.h>
+#include <lanelet2_io/Io.h>
+#include <yaml-cpp/yaml.h>
+
+#include <filesystem>
+#include <fstream>
+#include <map>
+#include <memory>
+#include <set>
+#include <string>
+#include <vector>
+


This test uses std::fmod but does not include <cmath>. It may compile only via transitive includes, which is fragile. Add an explicit <cmath> include to ensure the declaration is available across toolchains.

Copilot · 2026-04-22T08:47:17Z

+  void SetUp() override
+  {
+    tmp_dir_ = fs::temp_directory_path() / "test_lanelet2_map_divider";
+    fs::remove_all(tmp_dir_);
+    fs::create_directories(tmp_dir_);
+  }


The test fixture always uses the same temp directory name (.../test_lanelet2_map_divider). If tests are ever run concurrently (e.g., repeated invocations, parallel test runners), they can interfere with each other by deleting each other’s directories. Consider incorporating a unique suffix (PID, timestamp, random) into tmp_dir_ to avoid collisions.

Copilot · 2026-04-22T08:47:17Z

+        "grid_size_y",
+        "input_lanelet2_map",
+        "output_lanelet2_map_dir",
+        "map_projector_info_path"


The node declares prefix via declare_parameter<std::string>("prefix") without a default, so it is effectively required at runtime. However, the schema’s required list omits prefix, which can lead to generated/validated param files that crash the node on startup. Either add prefix to required here or change the node to declare it with a default (e.g., empty string).

Suggested change

"map_projector_info_path"

"map_projector_info_path",

"prefix"

feat: add autoware_lanelet2_map_divider package

2120e20

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>

github-actions Bot added type:documentation component:map labels Apr 22, 2026

pre-commit-ci Bot and others added 2 commits April 22, 2026 07:49

style(pre-commit): autofix

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apply fix for pre-commit

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Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>

mitsudome-r added the tag:run-build-and-test-differential label Apr 22, 2026

mitsudome-r mentioned this pull request Apr 22, 2026

Implement Differential Map Loading feature for lanelet2 map autowarefoundation/autoware_core#887

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mitsudome-r requested review from YamatoAndo and Copilot April 22, 2026 08:40

Copilot started reviewing on behalf of mitsudome-r April 22, 2026 08:41 View session

mitsudome-r requested a review from maxime-clem April 22, 2026 08:45

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feat: add autoware_lanelet2_map_divider package#409

feat: add autoware_lanelet2_map_divider package#409
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	"description": "Path to a single .osm file or a directory containing .osm files",
	"description": "Path to a single .osm file",

	<arg name="input_lanelet2_map" description="Path to a single .osm file or a directory containing .osm files"/>
	<arg name="input_lanelet2_map" description="Path to a single .osm file"/>

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mitsudome-r commented Apr 22, 2026 •

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