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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