一、系统准备
ubuntu18.04
https://mirrors.163.com/ubuntu-releases/18.04.6/ubuntu-18.04.6-desktop-amd64.iso
二、ros安装melodic
cn/melodic/Installation/Ubuntu - ROS Wiki
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/
git clone https://gitlab.com/mitsudome-r/utilities.git
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.