Answer to Question 1: Vector map is not used for localization. Vector map is used in other nodes such as region_tlr for traffic light detection and decision_maker to stop at stop lines. Only LiDAR data and pointcloud map is used for localization, and optionally IMU, GNSS, and Odometry information. FYI, I know there are people who are trying to use whitelines in vector map to improve localization, but we don't have that in Autoware yet. --- [Visit Topic](https://discourse.ros.org/t/how-to-use-vector-maps-in-autoware-localization-node/7995/2) 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: