assuremappingtools
Tools
Shell
ASSURE mapping tools
Desktop based tool for viewing, editing and saving road network maps for autonomous vehicle platforms such as Autoware.
Operating System
- Ubuntu 16.04
- Ununtu 18.04, old version
- master is latest version based on 18.04
Docker installation
In order to have NVIDIA support in the docker from the host, mesa-utils
is needed to use glxinfo
and getting the information of NVIDIA driver.
sudo apt install mesa-utils
Use build docker script to build the image on your system.
If the current branch is master
the script will automatically build the image and tag it as master
.
sh build-docker.sh
Use run docker script to run the container. If no argument is provided it will run master
tag by defualt.
./run-docker
for more information how to use run-docker
check the help
$ ./run-docker -h
Usage: run-docker [options]
This run script will assist you to run assuremappingtools container
-h,--help Show this help
Optional:
-b,--branch Branch name or tag name, if not provided it uses master.
-w,--workspace Absolute path for the working directory, if not provided no workspace added
This should be used to access your files on the host machine.
Direct installation, prerequisites libraries:
- For Ubuntu 18.04
-
Install OpenCV 2.4
don’t forget to checkout ver 2.4.13.7, default git clone download ver 4.0 - Install ROS melodic
- Install libtinyxml, freeglut3, libglew, libpcl1, libpugixml-dev, libgeographic, libplib, libglm
- Install ros-melodic-pcl-ros
-
Library link issue:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:libs - If still there are library linking problems use the Fast fix
GPU acceleration
- The editor works faster with GPU accelerator specially for large maps
Supported Roadnetwork Map formates (Load)
- OpenPlanner map format .kml
- Signle path file .csv
- Vector Map, collection of .csv files composing the map
- OpenDRIVE, is open file format for the logical description of road networks .xodr
- Lanelet2, map format .osm, with autoware extention
Supported Roadnetwork Map formates (Save)
- OpenPlanner map format .kml
- Google Earth .kml format, if only the loaded vector map has GPS information.
- Lanelet2, map format .osm
Supported Pointcloud data
- pointcloud map .pcd files
- rosbag of (LIDAR, Camera, Pose) .bag files comming soon
Supported Map Semantics
- Lanes
- Waypoints
- Road lines
- Traffic Lights
- Stop Lines
- Traffic Sign
- Road Boundaries
- Crossings
Tutorials
New features
- New OpenDRIVE parser
- ASSURE map editor save the projection data with the .kml and .osm files to be use when the map is loaded.
- Accurate conversion from vector map to lanelet2 is available. use should find the projection string for the ptoj library online.
- This website provides prepared projection string, if you select Proj4js format. you will get this string which represent central Japan area.
- Documentation document is uploaded
Known Issues
- No support for multi-storey parking maps yet.
- Exporting traffic lights and signs to lanelet2 require connection all Ids correctly between light-lane-stopline.