The source project of this merge request has been removed.
Add lanelet2aisan converter
Related Issues & MRs
This MR is based on the following MR.
Implemented feature
I've implemented a Lanelet2 OSM
to Aisan Vector Map
converter.
Description
The recommended HDMap format of Autoware.AI will be Lanelet2 after v1.12.
However, some applications are depending on Aisan Vector Map especially when they are developed by other than Tier IV.
In order to support those applications, we need a converter which converts Lanelet2 to Aisan format.
Implementation description
The code was implemented by refering to Lanelet2 document and Aisan Vector Map document(closed).
The converters are implemented by referring to the values in related fields/classes in different formats.
Test procedure
1 Run converter
roscore &
cd ~/autoware.ai/src/autoware/utilities
git fetch git@gitlab.com:kenji-miyake/utilities.git feature/add-lanelet2aisan-converter
git checkout -b kenji-miyake/utilities-feature/add-lanelet2aisan-converter FETCH_HEAD
cd ~/autoware.ai
colcon build
rosrun lanelet_aisan_converter lanelet2aisan _map_file:=`rospack find lanelet2_maps`/res/mapping_example.osm _origin_lat:=49.00331750371 _origin_lon:=8.42403027399 _save_dir:=./aisan_vector_map
- Visualize using Vector Map Builder
-
Open https://tools.tier4.jp/vector_map_builder/
- You need a free account
Edited by Kenji Miyake