ASSURE mapping 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, old version
• master is latest version based on 18.04

Docker installation

1. Install docker to your system
2. $ sh build-docker.sh (will build the image on your system)
3. $ .run-docker (will run the assure mapping tools container with GUI support)

Direct installation, prerequisites libraries:

• For Ubuntu 18.04

1. Install OpenCV 2.4 don't forget to checkout ver 2.4.13.7, default git clone download ver 4.0
2. Install ROS melodic
3. Install libtinyxml, freeglut3, libglew, libpcl1, libpugixml-dev, libgeographic, libplib, libglm
4. Install ros-melodic-pcl-ros

• Library link issue: export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:libs

• If still there are library linking problems use the Fast fix

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 V0.5
• Video Tutorials V0.2
• Older Video Tutorials

New features

• Improved OpenDRIVE parsing
• 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.