rviz_adas_map_builder

The rviz plugin to modify ADAS map (AISAN format) with Rviz, written in c++, for human beings all over the world. Mainly for Autoware.

Features

By using Rviz, you can add other tools.
You can modify the HDMap with localizing and checking the actual position of each element. (Can't add element. That function is future work!)
AISAN vector map builder which officially released is hard to modify the small error of position.
Waypoints (csv) for Autoware.AI's waypoint follower is also supported.

samnail

Requirement

ubuntu
ros
QT5 (basic packages, initially installed with ros)

Install

create catkin_ws

cd /path/to/anydir
mkdir -p catkin_ws/src
cd /catkin_ws/src
catkin_init_workspace

download and build package

cd /catkin_ws/src
git clone https://github.com/kuriatsu/rviz_hdmap_editor.git rviz_hdmap_editor
cd ../
catkin_make

Download example (optional) from here

The sample map is very huge, I recommend to use more lighter map. The indention code of the sample is CRLF, but c++ only support LF. Change character code by (you may need to install nkf by sudo apt install nkf)

nkf -Lu --overwrite data/map/vector_map/*.csv

Usage

start rviz

source /catkin_ws/devel/setup.bash
roscore &
rviz

Load HDmap and pointclond map and publish /map tf or without them like below
```
rosrun tf static_transform_publisher 0 0 0 0 0 0 /map /tf 100
```
Change current frame to /map in global option
Add panel

panel

You can find the panel at left side.

panel_added

Show InteractiveMarker and Marker.
Push ... button in the panel and Select HDMap. point.csv, line.csv, vector.csv, and dtlane.csv are necessary.

select_map

Select output folder.

select_output

Push OK
Click checkbox which you want to edit. (fig shows when you click node)

The coordinate of the sample map is very far from origin (-15811.335, -85688.332) Please move view point.

edit

Edit points.
Push Save to save your modification.

Tips

TopDownOrtho is better to edit. If you want to move along z axis, please use the other option.
Rotation is supported. Please zoom in and find the circle which signifies that motion.

Contribution

Fork this https://github.com/kuriatsu/rviz_hdmap_editor.git
Create your feature branch.
Commit your changes (git commit -am "add some feature")
Push to the branch (git push origin my-new-feature)
Create new Pull Request

Licence

Author

kuriatsu

Change Log

2020/11/12

Maintain README.md Not support adding element to the map. Supports only editing. It's hard to edit along z axis. Need to be updated.

kuriatsu / rviz_hdmap_editor

readme