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 on base_map.

• routing_map has the topology of the lanes in base_map. It can be generated by command:

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   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 of base_map for dreamview visualization. It has reduced data density for better runtime performance. It can be generated by command:

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  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

1. [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.

2. Pass as flag, which only affects an individual process:

   bashCopy

   <binary> --map_dir=/path/to/your/map
   

3. 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.

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   --flagfile=modules/common/data/global_flagfile.txt
   
   # Override values from the global flagfile.
   --map_dir=/path/to/your/map