autoware_lanelet2_map_visualizer package

This package provides the features of visualizing the lanelet2 maps.

lanelet2_map_visualization

Feature

lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray.

How to Run

ros2 run autoware_lanelet2_map_visualizer lanelet2_map_visualization

Subscribed Topics

• ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map

Published Topics

• ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz

Changelog for package autoware_lanelet2_map_visualizer

1.10.0 (2026-09-28)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• feat(map): add node designs for the map nodes (#1413)

  * feat(map): add node designs for the map nodes Describe the interfaces, parameters and processes of the pointcloud and lanelet2 map loaders, the map hash generator, the lanelet2 map visualizer and the map projection loader as system design node files.

  • fix(map): correct description formatting in Lanelet2MapLoader.node.yaml

  * refactor(map): rename node designs to match the node class names PointCloudMapLoader and Lanelet2MapVisualization follow the entity naming convention derived from the C++ class names, as in #1335.

  * fix(map): declare the MapHashGenerator external API interfaces as remap targets The map hash publisher and the lanelet XML server carry the fixed API names as remap_target, so a system design connects them like any other port and the launcher remaps the node-side names.

  * fix(map): update description for map_projector_info to clarify its purpose ---------

• fix(map): declare the dependencies these packages use (#1370) Each of these packages uses a package it never declares. Either it includes a header of that package, or it names a symbol of it while the header arrives through another dependency. Both build today only because some declared dependency re-exports the owner, so a change in an unrelated repository can break them without anything here changing. The tag follows where the dependency is used: a use in an installed header or in code compiled into the library takes <depend>, one reached only from test/ takes <test_depend>. System libraries are named by the rosdep key this workspace already prefers.

• feat(lanelet2_map_visualizer): apply [agnocast_wrapper::Node]{.title-ref} to [lanelet2_map_visualizer]{.title-ref} (#1197)

  • apply agnocast_wrapper::Node
  • style(pre-commit): autofix
  • fix copilot review
  • disable test when agnocast enabled

  * fix tests ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• feat(autoware_map_loader): add support of GetSelectedLanelet2Map service (#889)

  • fix build failure for jazzy
  • feat(autoware_map_loader): add support of GetSelectedLanelet2Map service
  • style(pre-commit): autofix
  • apply fix for pre-commit
  • fix cppcheck error
  • fix build
  • update parameters
  • set default to false
  • modify lanelet2_map_loader behavior to match with pcd_map_loader
  • fix launch files
  • update test scripts
  • rename parameter name
  • add args to autoware_core_map.launch.xml

  * update copyright year Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <<ryoshuke.mitsudome@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, github-actions

1.9.0 (2026-06-24)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• refactor(autoware_lanelet2_map_visualizer): extract pure marker-array builder and reuse autoware_utils_visualization (#1143)

  * refactor(autoware_lanelet2_map_visualizer): extract pure marker-array builder and reuse autoware_utils_visualization Move the LaneletMap-to-MarkerArray assembly out of the on_map_bin ROS callback into a pure, internally-headered free function

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