ASSURE mapping tools

Desktop based tool for viewing, editing and saving road network maps for autonomous vehicle platforms such as Autoware.

Operating System (Validated)

• Ubuntu 18.04
• Ubuntu 22.04
• Windows 10 with Docker and WSL

Docker installation (Ubuntu)

On the host:

1. Install Docker.
2. Test docker works by following the helloworld tutorial.
3. Install nvidia container toolkit.
4. Test that you have access to nvidia from docker by running either (glxgears or nvidia-smi)
5. You might need to install the following on the host:

   sudo apt install mesa-utils

Docker installation (Windows 10)

On the host:

1. Install PowerShell from Microsoft Store. Will be used to run Docker command in the following steps.
2. Install Docker.
3. Start Docker Desktop from the start menu.
4. Test docker works by following the helloworld tutorial.

Before Docker Build

Set your data folders by modifying the followiing in the docker compose yaml file

- /home/user/data:/root/data

Important for Windows:

On Windows you need to make sure the "ros_entrypoint.sh" End of Line Sequence is actually "LF" not "CRLF". Can be modified from VSCode. Change CRLF to LF then save the file.

Build Docker Image (Ubuntu):

docker compose -f docker-compose-linux-app-nvidia.yaml build

Build Docker Image (Windows):

docker compose -f docker-compose-windows-wsl-app.yaml build

Start ASSURE SMT (Ubuntu):

xhost + local:
docker compose -f docker-compose-linux-app-nvidia.yaml up

Start ASSURE SMT (Windows):

docker compose -f docker-compose-windows-wsl-app.yaml up

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

• Video Tutorials V0.5
• Video Tutorials V0.2
• Older Video 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.