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pre-commit-ci[bot] committed Feb 28, 2023
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17 changes: 8 additions & 9 deletions docs/design/autoware-interfaces/components/map.md
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Autoware relies on high-definition point cloud maps and vector maps of the driving environment to perform various tasks. Before launch Autoware, you need to load the pre-created map files.

How to create maps refference [Creating maps for Autoware](../../../how-to-guides/creating-maps-for-autoware.md).

## Outputs

### Point cloud map
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- Raw pointcloud map (sensor_msgs/msg/PointCloud2)
- Downsampled pointcloud map (sensor_msgs/msg/PointCloud2)
- Partial pointcloud map loading via ROS 2 service (autoware_map_msgs/srv/GetPartialPointCloudMap)
- Partial pointcloud map loading via ROS 2 service (autoware_map_msgs/srv/GetPartialPointCloudMap)
- Differential pointcloud map loading via ROS 2 service (autoware_map_msgs/srv/GetDifferentialPointCloudMap)

### Lanlet2 map

Loads Lanelet2 file and publishes the map data as `autoware_auto_mapping_msgs/msg/HADMapBin` message. The lan/lon coordinates is projected into the MGRS coordinates.

- autoware_auto_mapping_msgs/msg/HADMapBin
- std_msgs/Header header
- string version_map_format
- string version_map
- string name_map
- uint8[] data
- std_msgs/Header header
- string version_map_format
- string version_map
- string name_map
- uint8[] data


### Lanlet2 map visualization

visualize `autoware_auto_mapping_msgs/HADMapBin` messages in `Rviz`.

- visualization_msgs/msg/MarkerArray
- visualization_msgs/msg/MarkerArray

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