Load Lanelet2 map and provide query interface (Lanelet2 Map Loader)
Description
Lanelet2 is our chosen in-memory mapping format and OSM XML is our chosen data-storage format for semantic maps. This issue is to track the implementation of a node or nodes which load the map and make it available to other nodes in the system.
Desired Behavior
A user should be able to provide a map containing semantic elements and traffic rules to Autoware.Auto. The bespoke system should be able to load and validate the map and provide a querying interface to other parts of the Autoware.Auto system which allows retrieval of specific elements or subsections of the map.
Definition of Done
-
Decide on a standardized mapping format to support (Lanelet2) -
Create stub architecture including design document -
Implement the ability to read and validate a map from a provided file path -
Define an interface for providing and answering queries from other nodes in the system -
Implement the ability to have queries from other portions of the system answered -
Implement querying by a list of element types -
Implement querying by a geographic subsection of the map
-
-
-
Create documentation on using the Lanelet2 Map Loader
Edited by Joshua Whitley