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hatem-darweesh / assuremappingtools

Desktop based tool for viewing, editing and saving road network maps for autonomous vehicle platforms such as Autoware.
GNU General Public License v3.0
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How to correctly load a lanelet2 map in Autoware? #35

Closed salvatoresan closed 3 years ago

salvatoresan commented 3 years ago

Hi @hatem-darweesh, i'm currently experimenting on Carla and Autoware v1.14 and my goal is to generate an HD maps in the lanelet2 format starting from an OpenDRIVE file obtained from RoadRunner. Leaving aside a conversion issue due to some inconsistencies in the OpenDRIVE file, i couldn't even load in Autoware the official lanelet2 maps of Carla, which i assume they were created with the Assure mapping tools, in the map tab in Autoware whereas there weren't any issues with the vector maps. Besides, i noted that loading a pcd map and the corresponding lanelet2 or vector map causes a matching issue where the pcd map appears above the lanelet2/vector map. What would be the correct workflow to generate a lanelet2 map and then load it in Autoware? Could the issue be related to an error in the type of coordinate system (UTM/MGRS) or in the tf launch file in the Carla-Autoware bridge? In any case, thanks for your hard work

hatem-darweesh commented 3 years ago

I tried using CARLA with .kml maps. OpenDRIVE -> KML -> OpenPlanner with CARLA. The lanelet2 map generation will be modified and tested next month. It should be ready by the end of November

hatem-darweesh commented 3 years ago

Hi @salvatoresan , you can try the lanelet2 save option now.