Making MRGS Map

[shpark98]

Hello. I'm planning to create an MGRS PCD map.

I'm referring to this website.

https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-maps/converting-utm-to-mgrs-map/

The map will be generated using Fast LIO SLAM.

I understand up to the point of converting using GPS information.

My question is as follows:

Is it sufficient to only have the vehicle's starting point (the location where SLAM begins) as GPS information when mapping,

or do I need to have the GPS information for the entire vehicle during the mapping process?

[lostDeers]

You can edit map projection info and send your GPS info of starting point just like the sample planning map from Autoware.

[shpark98]

@lostDeers Thank you for your response.

As you mentioned, I was able to confirm that the location information is included in both the Map and the Vector Map.

However, although Autoware is receiving correct GPS data, the output looks like the photo below.

It seems that the PCD map and the vector map contain incorrect location information. Could you advise me on how to resolve this issue?

[lostDeers]

It depends on your SLAM method. If your SLAM method uses Odometry or IMU data such as LIO-SAM, the orientation mapping will be correct. But if you use LOAM method without Odometry, you should set the initial pose manually to make sure the orientation is correct.

[shpark98]

@lostDeers

I Used Fast-Lio2 and it also used IMU Data.

The fact that the map has been generated properly suggests that there doesn't seem to be any issue with the IMU data.

What I'm curious about is that the origin of the SLAM-generated local map, which is at (0,0,0), is converted to (latitude, longitude, altitude) in the MGRS map.

In this case, wouldn't it mean that only the origins of the local map and the MGRS map are aligned?

How can we verify that the surrounding PCD points are correctly positioned at their corresponding latitude and longitude coordinates?

[lostDeers]

just like TF, when your local PCD is mapping to MGRS map, Every point in your map is relative. It means that you just need to care about the transform about origin location and other points will get a relative position in the map. So if your PCD map is correct, the MGRS map will be correct. If your localization with GNSS is wrong but moving direction is correct, I think you can check the accuracy of your GNSS.