Map Data¶
A bundle of correlated maps are organized as a directory, with a structure like:
<map_dir> # Defined by FLAGS_map_dir
|-- base_map.xml # Defined by FLAGS_base_map_filename
|-- routing_map.bin # Defined by FLAGS_routing_map_filename
|-- sim_map.bin # Defined by FLAGS_sim_map_filename
|-- default_end_way_point.txt # Defined by FLAGS_end_way_point_filename
You can specify the map filenames as a list of candidates:
--base_map_filename="base.xml|base.bin|base.txt"
Then it will find the first available file to load. Generally we follow the extension pattern of:
x.xml # An OpenDrive formatted map.
x.bin # A binary pb map.
x.txt # A text pb map.
Difference between base_map, routing_map and sim_map¶
base_map
is the most complete map that has all roads, lane geometry and labels. The other maps are generated based onbase_map
.routing_map
has the topology of the lanes inbase_map
. It can be generated by command:dir_name=modules/map/data/demo # example map directory ./scripts/generate_routing_topo_graph.sh --map_dir ${dir_name}
sim_map
is a light weight version ofbase_map
for dreamview visualization. It has reduced data density for better runtime performance. It can be generated by command:dir_name=modules/map/data/demo # example map directory bazel-bin/modules/map/tools/sim_map_generator --map_dir=${dir_name} --output_dir=${dir_name}
Use a different map¶
[Preferred] Change global flagfile: modules/common/data/global_flagfile.txt
Note that it’s the basement of all modules’ flagfile, which keeps the whole system in one page.
Pass as flag, which only affects an individual process:
<binary> --map_dir=/path/to/your/map
Override in the module’s own flagfile, which is generally located at modules/<module_name>/conf/<module_name>.conf
Obviously it also only affects a single module.
--flagfile=modules/common/data/global_flagfile.txt # Override values from the global flagfile. --map_dir=/path/to/your/map