ASSURE mapping tools
Desktop based tool for viewing, editing and saving road network maps for autonomous vehicle platforms such as Autoware.
branch.
* News: V0.5 build for Ubuntu 18.04 is now available in separateOperating System
- Ubuntu 16.04
- Ununtu 18.04 Fast fix, or Custom build branch
Prerequisites libraries:
- For Ubuntu 16.04: (master branch)
- Install OpenCV 2.4 don't forget to checkout ver 2.4.13.7, default git clone download ver 4.0
- Install ROS kinetic
- Install libtinyxml, freeglut3, libglew, libpcl1.7, libpugixml-dev, libgeographic
- Install ros-kinetic-pcl-ros
- Install OpenCV 2.4 don't forget to checkout ver 2.4.13.7, default git clone download ver 4.0
- Install ROS melodic
- Install libtinyxml, freeglut3, libglew, libpcl1, libpugixml-dev, libgeographic, libplib, libglm
- Install ros-melodic-pcl-ros
- Library link issue: export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:libs
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
New features
- Saving lanelet2 using either UTM from original lanelet library or MGRS from the autoware extention.
- 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.
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.