To add the maps to Apollo:
- make a directory in apollo/modules/map/data by the name of the map.
- copy to it base_map.xml .
- generate routing_map file for each map. It can be generated by the command:
dir_name=modules/map/data/town01 # example map directory
./scripts/generate_routing_topo_graph.sh --map_dir ${dir_name}
- generate sim_map file for each map. It can be generated by the command:
dir_name=modules/map/data/town01 # example map directory
bazel-bin/modules/map/tools/sim_map_generator --map_dir=${dir_name} --output_dir=${dir_name}
Note 1 : for carla_town01 and carla_town03 no need to generate extra files. You can find all the needed files in the map folder.
Note 2 : Town01 has all the traffic lights, added to test Apollo autonomous driving at intersections.
