Vehicle-cpp/Nav/autoware_src/autoware/utilities/lanelet_aisan_converter

Lanelet Aisan Converter

This package contains tools to convert between Lanelet2 OSM and Aisan Vector Map.

lanelet2aisan

This node converts Lanelet2 OSM file into Aisan Vector Map csv files.

Usage

Command

rosrun lanelet_aisan_converter lanelet2aisan _map_file:=<path to lanelet map> _origin_lat:=<latitude of origin for XYZ projection> _origin_lon:=<longitude of origin for XYZ projection> _save_dir:=<optional: path to save dir>

For sample lanelet map:
rosrun lanelet_aisan_converter lanelet2aisan _map_file:=`rospack find lanelet2_maps`/res/mapping_example.osm _origin_lat:=49.00331750371 _origin_lon:=8.42403027399 _save_dir:=./aisan_vector_map

Parameters

• ~map_file (string, required)
  Lanelet2 OSM file

• ~save_dir (string, default: "./")
  directory to save converted map

• ~origin_lat (double, required)
  latitude origin of the map.

• ~origin_lon (double, required)
  longitude origin of the map.

Limitations

This tool doesn't support 100% conversion and assumes some manual adjustings using Vector Map Builder.
Please see create_feature.cpp for more details about what attributes are not supported.
When a certain attribute is not supported, there is a comment like this.

road_sign.linkid = 0;  // Not supported