# Crosswalk attribute

Behavior velocity planner's [crosswalk module](<https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/>) plans velocity to stop or decelerate for pedestrians approaching or walking on a crosswalk. In order to operate that, we will add crosswalk attribute to our lanelet2 map.

## Creating a crosswalk attribute

In order to create a crosswalk on your map, please follow these steps:

1. Click `Abstraction` button on top panel.
2. Select `Crosswalk` from the panel.
3. Click and draw crosswalk on your pointcloud map.

You can see these steps in the crosswalk creating demonstration video:

### Testing created crosswalk with planning simulator

After the completing of creating the map, we need to save it. To that please click `File` --\> `Export Lanelet2Maps` then download.

After the download is finished, we need to put lanelet2 map and pointcloud map on the same location. The directory structure should be like this:

```text
<YOUR-MAP-DIRECTORY>/
 ├─ pointcloud_map.pcd
 ├─ lanelet2_map.osm
 └─ map_projector_info.yaml
```

The `map_projector_info.yaml` file tells Autoware the projection of the map. Write the MGRS grid that you entered when you created the Lanelet2 map in Vector Map Builder:

```yaml
projector_type: MGRS
vertical_datum: WGS84
mgrs_grid: <YOUR-MGRS-GRID> # for example, 35TPF
```

Use the vertical datum of your point cloud map. For a point cloud map from the [UTM to MGRS converter](<../../converting-utm-to-mgrs-map/index.md>), use `EGM2008`. If the file does not exist, Autoware reads the MGRS grid from the Lanelet2 map. This fallback is deprecated.

If your .osm or .pcd map file's name is different from these names, add the `lanelet2_map_file` and `pointcloud_map_file` arguments to the launch command:

```bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=<YOUR-MAP-FOLDER-DIR> vehicle_model:=<YOUR-VEHICLE-MODEL> sensor_model:=<YOUR-SENSOR-KIT> lanelet2_map_file:=<YOUR-LANELET-MAP-NAME>.osm pointcloud_map_file:=<YOUR-POINTCLOUD-MAP-NAME>.pcd
```

Now we are ready to launch the planning simulator:

```bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=<YOUR-MAP-FOLDER-DIR> vehicle_model:=<YOUR-VEHICLE-MODEL> sensor_model:=<YOUR-SENSOR-KIT>
```

Example for tutorial\_vehicle:

```bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_data/maps/tutorial_map/ vehicle_model:=tutorial_vehicle sensor_model:=tutorial_vehicle_sensor_kit vehicle_id:=tutorial_vehicle
```

1. Click `2D Pose Estimate` button on rviz or press `P` and give a pose for initialization.
2. Click `2D Goal Pose` button on rviz or press `G` and give a pose for goal point.
3. We need to add pedestrians to crosswalk, so activate interactive pedestrians from `Tool Properties` panel on rviz.
4. After that, please press `Shift`, then click right click button for inserting pedestrians.
5. You can control inserted pedestrian via dragging right click.

For more information about interactive dummy objects, see [placing interactive dummy objects](<../../../../../simulation/planning-simulation/placing-objects/#placing-interactive-dummy-objects>).

Crosswalk markers on rviz:

Crosswalk test on the created map.

You can check your crosswalk elements in the planning simulator as this demonstration video: