How to convert opendrive to vector map

Setting up the environment

download mrt_cmake_modules

cd ~/catkin_ws/src

git clone https://github.com/KIT-MRT/mrt_cmake_modules.git

download autoware_map & vector_map_converter

cd ~

git clone https://gitlab.com/mitsudome-r/utilities.git

cd utilities

cp -R autoware_map ~/catkin_ws/src

cp -R vector_map_converter ~/catkin_ws/src

download geographic_info

cd ~/catkin_ws/src git clone https://github.com/ros-geographic-info/geographic_info.git

download autoware_msgs

cd ~/catkin_ws/src

git clone https://gitee.com/autowarefoundation/messages.git

download unique_identifier

cd ~/catkin_ws/src

git clone https://github.com/ros-geographic-info/unique_identifier.git

download lanelet2

cd ~/catkin_ws/src

git clone https://github.com/fzi-forschungszentrum-informatik/lanelet2.git

copy amathutils_lib

cd /home/your_lgsvl_path/Autoware/ros/src/common/libs cp -R amathutils_lib ~/catkin_ws/src

copy op_planner

cd /home/your_lgsvl_path/Autoware/ros/src/computing/planning/common/lib/openplanner cp -R op_planner ~/catkin_ws/src

copy autoware_build_flags

cd /home/your_lgsvl_path/Autoware/ros/src/common/cmake

cp -R autoware_build_flags ~/catkin_ws/src

copy op_utility

cd /home/your_lgsvl_path/Autoware/ros/src/computing/planning/common/lib/openplanner

cp -R op_utility ~/catkin_ws/src

copy vector_map

cd /home/your_lgsvl_path/Autoware/ros/src/data/packages

cp -R vector_map ~/catkin_ws/src

copy vector_map_server

cd /home/your_lgsvl_path/Autoware/ros/src/data/packages

cp -R vector_map_server ~/catkin_ws/src

if others packages not found, please use

sudo apt-get install ros-kinetic-xxx

Begin build 参考

cd ~/catkin_ws

source /opt/ros/$ROS_DISTRO/setup.bash

catkin init

catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo # build in release mode (or whatever you prefer)

catkin build

Afterwhile you while get autowaremap2vectormap & opendrive2autowaremap

source ~/catkin_ws/devel/setup.bash

cp ~/catkin_ws/devel/.private/vector_map_converter/lib/vector_map_converter/autowaremap2vectormap ~/catkin_ws/src/vector_map_converter

cp ~/catkin_ws/devel/.private/vector_map_converter/lib/vector_map_converter/opendrive2autowaremap ~/catkin_ws/src/vector_map_converter

Convert map 参考

roscore&

Use opendrive2autoware_converter

rosrun vector_map_converter opendrive2autowaremap _map_file:=[xodr file] _country_codes_dir:=~/catkin_ws/src/vector_map_converter/countries/ _save_dir:=[save directory] _resolution:=0.5 _keep_right:=[True/Flase]

Use autowaremap2vectormap

rosrun vector_map_converter autowaremap2vectormap _map_dir:=[autowaremap directory] _save_dir:=[save directory] _create_whitelines:=[True/False] _wayareas_from_lanes:=[True/False]

Test Procedure 参考

Autoware Maps Format 参考