Can I run the vehicle in autoware without the pcd file and using the open source osm file of any city available in internet.

[Ironman1508]

Hello all, I want to run the autoware without the pcd file in a new osm file of a different city instead of the Nishisjunku map which was given as sample. Reason is that, it's impossible to get a pcd file of a city. So, I wanted to know what changes needs to be done for running the autoware without pcd file.

[danielsanchezaran]

@Ironman1508 I am not sure I follow your question. If you want to run Autoware on a real vehicle you NEED a pdc map. You can check the Documentation on how to create maps.

If you want to run a simulation, you can use the planning simulator which, as far as I remember, does not need the .pcd file (however, in case the launching of the planning simulator fails because you dont have a .pcd file, you can use ANY .pcd file and copy it to your map directory)

[Ironman1508]

Thanks for the reply, I will check that. Basically I want to do the basic navigation by giving the goal pose and clicking on AUTO button, where the vehicle reaches the given goal pose autonomously.