Hello Everyone, I am working with autoware and I am much interested in the localization and mission planning (Path planning). Now i have tested and understood about LIDAR localizer with autoware provided sample data sets ( sample_moriyama_150324.bag, pcd files, vector map files), also with our custom datasets which includes .bag file, point cloud map and vector maps. **Question 1:** Even though vector maps loading correctly without any issues, I wonder how these vector maps are utilized in the autoware localization? In general, I understood the significance of vector maps in the localization, but I didn't get how and where autoware making use of these vector maps? **Lidar localizer with loaded vector maps:** ![Selection_070|599x389](upload://hSutDLCNO8zXhdHU619MkrD1rWy.jpeg) **Question 2:** Also, i have tried to test mission planning in the autoware with the demo dataset provided. When starting **mission_planning** node, i am getting a following error message in the terminal. **starting mission_planning:** ![Selection_071|594x500](upload://f2Rh9Cp73ZJMBIVcVmnTSeLXMDo.png) **Error Message in the terminal:** ![Selection_072|690x372](upload://qplLwhroKhiioXWG1rPk2da6yF0.png) Appreciate your kind assistance, Thanks. Regards, Ajay --- [Visit Topic](https://discourse.ros.org/t/how-to-use-vector-maps-in-autoware-localization-node/7995/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: