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

  1. Install OpenCV 2.4 don't forget to checkout ver 2.4.13.7, default git clone download ver 4.0
  2. Install ROS melodic
  3. Install libtinyxml, freeglut3, libglew, libpcl1, libpugixml-dev, libgeographic, libplib, libglm
  4. 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

• 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.