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

1.9.0 (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 create_lanelet_map_marker_array(map, viz_centerline), and have the node callback delegate to it then publish. This adds a directly unit-testable seam with no change to the node's public constructor or topics. Replace the two .cpp-local helpers (set_color, insert_marker_array) with autoware_utils_visualization::create_marker_color / append_marker_array, which are semantically identical (append_marker_array with no current_time performs the same push-back, and create_marker_color static_casts the same way set_color did). These helpers are internal, so the public API is unaffected. Add unit tests on the new free function asserting per-element-category marker namespaces and colors (road triangle, road boundaries, curbstone), the empty-map degenerate path, and the viz_centerline branch toggling the center-line markers. The new tests run without rclcpp init/shutdown. Behavior-preserving: the deserialized map is now passed directly as a LaneletMapConstPtr to the read-only queries instead of being deep-copied via remove_const first; the published MarkerArray is unchanged. Refs: autowarefoundation/autoware_core#1096

  * Update map/autoware_lanelet2_map_visualizer/test/test_lanelet2_map_visualization.cpp Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>> ---------Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• feat: add visualization support for area primitives (part of reverse maneuver feature) (#1122) feat: add visualization for area primitives; part of reverse maneuver feature

• Contributors: Yutaka Kondo, emmeyteja, github-actions

1.8.0 (2026-05-01)

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

• feat(autoware_lanelet2_map_visualizer): add new maker (#828)

  * add maker ---------

• chore(planning, misc): remove unused header includes (#840)

• Contributors: Mamoru Sobue, Yuki TAKAGI, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_lanelet2_utils): replace from/toBinMsg (#737) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>> Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>
• Contributors: Sarun MUKDAPITAK, github-actions

1.5.0 (2025-11-16)

• Merge remote-tracking branch 'origin/main' into humble

• feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)

  • replace ament_auto_package to autoware_ament_auto_package

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• chore: update maintainer (#637)

  * chore: update maintainer remove Takeshi Ishita

  * chore: update maintainer remove Kento Yabuuchi

  * chore: update maintainer remove Shintaro Sakoda

  * chore: update maintainer remove Ryu Yamamoto ---------

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