After annotation is done, remember to save: select the Map prefab, in the Inspector click Overrides -> Apply AllĪnnotate Lanes top # Create Parent Object top #.To make Map a prefab, drag it from the scene Hierarchy into the Project folder.Under Create Intersection / Lane Section Holder, there are two buttons Intersection and Lane Section to create these two objects quickly and attach the corresponding scripts.To quick annotate a map, you can first annotate lanes, click this button to create boundary lines, and then adjust them. Create lines which will create fake boundary lines for all lanes which miss boundary lines using fixed width.If two boundary lines' end points are both overlapping, one of the lines will be removed and the other will be shared. Remove lines which will remove all extra boundary lines in the map annotations.NOTE Colliders above the annotation will catch the raycast be sure to turn off before using this tool. Snap all which will snap all your annotations to ground layer.Under Utilities, there are three Utility buttons.More notes on HD Map Annotation window:.BoundaryLines - This object will hold all of boundary lines.MapSign - A single annotated traffic sign (e.g.MapSignal - A single annotated traffic signal.MapLine - A single annotated line (e.g.MapIntersection - This object will hold all of the annotations for an intersection.Intersections - This object will hold all of the MapIntersection.MapLaneSection - This will hold all of the lanes in a section of road.TrafficLanes - This object will hold all of the MapLaneSection and MapLane which cannot be grouped under MapLaneSection.The MapHolder script should be added to this prefab Map - This prefab which will be the object containing all the HD Annotations.The expected object hierarchy is as follows:.Then every new object you create will be under TrafficLanes object. Before annotating, drag in the correct Parent Object, for example TrafficLanes.This value is saved per map, not globally. Gizmo Size enables larger or smaller gizmos for annotation objects.You can also use the Unity Editor features to hide objects that are not needed in the Hierarchy panel. NOTE Large maps with heavy annotation will slow the Unity Editor be sure to only enable what you need to work with. Or you can click Lock View Selected to only show the annotations you are selecting. Click View All under View Modes to show all existing map annotations. By default, map annotation is not shown.Open HD Map Annotation in Unity: Simulator -> Annotate HD Map.Make sure your environment has Mesh Collider Unity components added.Turn on Gizmos in Unity Editor Scene panel so annotation will be visible.Make sure your roads belong to the layer of Default since waypoints will be only created on this layer.Annotate Self-Reversing Lanes under Intersections.Annotate Self-Reversing Lanes under Traffic Lanes.Configuration file and command line parameters.Mapping a simulation environment in ROS 2.Robot simulation with ROS 2 Navigation Stack.Running a basic Robotics Simulation with ROS 2.Viewing and subscribing to ground truth obstacles.Modular testing with the Apollo AD stack.Running Linux GPU applications on Windows.
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