ASSURE maping tools

Desktop based tool for viewing, editing and saving road network maps for autonomous vehicle platforms such as Autoware.

Operating System

• Ubuntu 16.04
• Ununtu 18.04

Prerequisites libraries:

• tinyxml, glut, glew, pcl,
• for lanelet2 extention: libpugixml, libgeographic

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

• Video Tutorials

Known Issues

• lat/lon coordinates projection is using only MGRSProjector added by the autoware team.
• When saving from any type to lanelet2 projection is mostly incorrect. but the map is usable is lat/lon is not important, also the map can't be projected in sattelite imagery in JSOM, but still could be edited.
• No support for multi-storey parking maps yet.