高精度地图lanelet2或opendrive转vectormap

最新推荐文章于 2024-04-25 07:59:22 发布

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最新推荐文章于 2024-04-25 07:59:22 发布

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分类专栏：自动驾驶 ubuntu 文章标签：自动驾驶 linux ubuntu

本文链接：https://blog.csdn.net/u011014502/article/details/120707425

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一、系统准备

ubuntu18.04

二、ros安装melodic

三、编译转换工具

sudo apt-get install libboost-dev libeigen3-dev libgeographic-dev libpugixml-dev libpython-dev libboost-python-dev

mkdir -P ~/catkin_ws/src/

cd ~/catkin_ws/src/

cd .../

catkin_make

四、Lanelet2转vector map

roscore
mkdir converted_map
rosrun vector_map_converter lanelet2vectormap _map_file:=~/colcon_ws/src/Lanelet2/lanelet2_maps/res/mapping_example.osm _origin_lat:=49.00345654351 _origin_lon:=8.42427590707 _save_dir:=~/converted_map/
start run time manager
select converted vector map files under Map tab as shown in the image

五、opendrive转vector map

Download a map sample form OpenDrive Downloads page.
roscore
mkdir autoware_map vector_map
rosrun vector_map_converter opendrive2autowaremap _map_file:=Crossing8Course.xodr _country_codes_dir:=autoware/utilities/vector_map_converter/countries/ _save_dir:=autoware_map/
rosrun vector_map_converter autowaremap2vectormap _map_dir:=autoware_map _save_dir:=vector_map/ _create_whiteline:=true
Load the vector_map in vector_map/ with the same step as steps 4-6 in Converting from Lanelet2 section.
However, use this tf file instead.
Set up rviz as step 7 in Converting from Lanelet2 section.
You should see following vector_map.

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