How to employ my own map to do the simulation with carla and autoware.

[JarvisLee0423]

Hi, Right now I already drew my own roadrunner map, and it has been successfully imported into the carla 0.9.15 with ubuntu 22.04. And I want to do the simulation of my own map with carla and autoware. I see in the op_agent folder, the autoware requires the osm map and pcd map and a projector yaml. I have reconstructed the pcd map of my own roadrunner map in carla with a slam algorithm. Can you tell me how can I get the correct osm and projector yaml to do the simulation? Thanks a lot.