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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
210 stars 74 forks source link

Vector map for Autoware #73

Open kyeops opened 2 years ago

kyeops commented 2 years ago

Hello @hatem-darweesh,

I emailed you before, and thank you for your response. I agree that talking with you here might help other people too. Basically, I would like to know if I am correct about how a vector map works for the global mapping of Autoware and discuss issues that I have with ASSURE tool.

First, I would like to create vector maps for global mapping on Autoware. I am considering vector maps that include at least information about lanes of routes that I plan to test a car on. At the beginning of your video, you loaded vector_map/area.csv., and the map including lane information showed up. I am wondering what map data format it is and how you created this map. I appreciate it if you can let me know any resources that describe the procedures. I am also wondering if you think I can create this without Point Cloud Data.

Plus, before I describe issues with using ASSURE tool, I am wondering if you used ASSURE tool for the vector map in the video. Right now, just from the video, I am not sure if the tool is necessary and when I really need to use the tool once I create vector maps.

Thank you for reading this.

hatem-darweesh commented 2 years ago

To create a map you need a point of reference that represent the coordinates such as: 1- Point cloud map 2- .csv file contains a recorded path. 3- Lanelet2 map. (you can create lanelet2 map using JOSM. your reference will be satellite mapping image.

The point of reference should relate to how will you localize your robot (NDT, GNSS, etc)

kyeops commented 2 years ago

Is it correct that I need all of them that you listed to create a vector map? or can I pick one? It looks like you use Point cloud map and .csv file but not Lanelet2 map in the video, so I am not sure if Lanelet2 map is necessary.

Second, how did you create the path .csv? did you use Vector Map Builder from here?

Thank you for your answer!

hatem-darweesh commented 2 years ago

You can use one or more, just make sure they all have the same coordinate system and origin.

kyeops commented 2 years ago

Currently, I am trying to avoid using pcd because of its size. Do you think I can create a map of any route based on .csv without using pcd?

Also, from one of your answers, you said that it is possible to create lanelet2 once GPS is entered on ASSURE tool. Does it mean I can create a map using either JOSM or ASSURE tool? How are they different?

I am new to creating a vector map. Your answers help a lot. Thanks!