How to create a map using NDT Mapping

  1. Go to Autoware/ros directory
  2. Run Autoware using “./run” command
  3. Go to Simulation tab and Load a ROSBAG
  4. Click Play and immediately PAUSE
  5. Click Computing tab and select ndt_mapping
  6. Click RViz button at the bottom
  7. In Rviz click File menu and then click Open Config to select visualization template for ndt_mapping.rviz located in Autoware/src/.config/rviz
  8. ndt_mapping will read from /points_raw
    IF the pointcloud is being published in a different topic, use the relay tool in a new terminal window
    rosrun topic_tools relay /front/velodyne_points /points_raw
    This will forward the topic /front/velodyne_points to /points_raw
  9. Go back to Simulation tab and click Pause to start mapping
  10. Mapping process can be seen from Rviz
  11. Once the desired area is mapped. Click [app] button next to ndt_mapping
  12. Select the desired path specified using the Ref button
  13. Press the PCD OUTPUT to generate the file.
  14. Uncheck the ndt_mapping node to stop.

DONE

How to verify Map

  1. Select Map tab in runtime Manager and click on Ref button
  2. Select the recently created file
  3. Click on the PointCloud button and wait until the progress bar reaches Loading… 100%
  4. Open RVIZ, Click the ADD button
  5. Select the By Topic Tab
  6. Double Click on /points_map PointCloud2
  7. The map will be displayed (remember to set the frame to map)