feat: add split map tutorial (#477)

* docs: add using-divided-map tutorial Signed-off-by: kminoda <[email protected]> * update google drive link Signed-off-by: kminoda <[email protected]> * add related links Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * add instruction for playing rosbag Signed-off-by: kminoda <[email protected]> --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Nov 10, 2023 · b360af4 · b360af4
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+# Using divided pointcloud map
+
+Divided pointcloud map is necessary when handling large pointcloud map, in which case Autoware may not be capable of sending the whole map via ROS 2 topic or loading the whole map into memory. By using the pre-divided map, Autoware will dynamically load the pointcloud map according to the vehicle's position.
+
+## Tutorial
+
+Download the [sample-map-rosbag_split](TODO) and locate the map under `$HOME/autoware_map/`.
+
+```bash
+gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=11tLC9T4MS8fnZ9Wo0D8-Ext7hEDl2YJ4'
+unzip -d ~/autoware_map/ ~/autoware_map/sample-rosbag_split.zip
+```
+
+Then, you may launch logging_simulator with the following command to load the divided map.
+Note that you need to specify the `map_path` and `pointcloud_map_file` arguments.
+
+```bash
+source ~/autoware/install/setup.bash
+ros2 launch autoware_launch logging_simulator.launch.xml \
+  map_path:=$HOME/autoware_map/sample-map-rosbag pointcloud_map_file:=pointcloud_map \
+  vehicle_model:=sample_vehicle_split sensor_model:=sample_sensor_kit
+```
+
+For playing rosbag to simulate Autoware, please refer to the instruction in [the tutorial for rosbag replay simulation](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/).
+
+## Related links
+
+- For specific format definition of the divided map, please refer to [Map component design page](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/map/)
+- [The Readme of map_loader](https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_loader) may be useful specific instructions for dividing maps
+- When dividing your own pointcloud map, you may use [pointcloud_divider](https://github.com/MapIV/pointcloud_divider), which can divide the map as well as generating the compatible metadata