高精度地图lanelet2或opendrive转vectormap

参照vector map converter (!2) · Merge requests · Autoware Foundation / MovedToGitHub / utilities · GitLab

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

1. roscore
2. mkdir converted_map
3. 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/
4. start run time manager
5. select converted vector map files under Map tab as shown in the image

五、opendrive转vector map

1. Download a map sample form OpenDrive Downloads page.
2. roscore
3. mkdir autoware_map vector_map
4. rosrun vector_map_converter opendrive2autowaremap _map_file:=Crossing8Course.xodr _country_codes_dir:=autoware/utilities/vector_map_converter/countries/ _save_dir:=autoware_map/
5. rosrun vector_map_converter autowaremap2vectormap _map_dir:=autoware_map _save_dir:=vector_map/ _create_whiteline:=true
6. 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.
7. Set up rviz as step 7 in Converting from Lanelet2 section.
8. You should see following vector_map.