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https://github.com/hatem-darweesh/assuremappingtools
Desktop based tool for viewing, editing and saving road network maps for autonomous vehicle platforms such as Autoware.
https://github.com/hatem-darweesh/assuremappingtools
Last synced: 2 days ago
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Desktop based tool for viewing, editing and saving road network maps for autonomous vehicle platforms such as Autoware.
- Host: GitHub
- URL: https://github.com/hatem-darweesh/assuremappingtools
- Owner: hatem-darweesh
- License: gpl-3.0
- Created: 2019-07-17T16:51:12.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2024-07-15T18:52:05.000Z (4 months ago)
- Last Synced: 2024-08-13T00:22:48.111Z (3 months ago)
- Language: Dockerfile
- Size: 86.1 MB
- Stars: 208
- Watchers: 12
- Forks: 73
- Open Issues: 17
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# ASSURE mapping tools
Desktop based tool for viewing, editing and saving road network maps for autonomous vehicle platforms such as Autoware.
### Operating System (Validated)
- Ubuntu 18.04
- Ubuntu 22.04
- Windows 10 with Docker and WSL
### Docker installation (Ubuntu)
On the host:
1. Install [Docker](https://docs.docker.com/desktop/install/ubuntu/#install-docker-desktop).
2. Test docker works by following the helloworld tutorial.
3. Install [nvidia container toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/1.14.5/install-guide.html).
4. Test that you have access to nvidia from docker by running either (glxgears or nvidia-smi)
5. You might need to install the following on the host:
```
sudo apt install mesa-utils
```
### Docker installation (Windows 10)
On the host:
1. Install PowerShell from Microsoft Store. Will be used to run Docker command in the following steps.
2. Install [Docker](https://docs.docker.com/desktop/install/windows-install/).
3. Start Docker Desktop from the start menu.
3. Test docker works by following the helloworld tutorial.
### Before Docker Build
Set your data folders by modifying the followiing in the docker compose yaml file
```
- /home/user/data:/root/data
```
### Important for Windows:
On Windows you need to make sure the "ros_entrypoint.sh" End of Line Sequence is actually "LF" not "CRLF". Can be modified from VSCode. Change CRLF to LF then save the file.
### Build Docker Image (Ubuntu):
```
docker compose -f docker-compose-linux-app-nvidia.yaml build
```
### Build Docker Image (Windows):
```
docker compose -f docker-compose-windows-wsl-app.yaml build
```
### Start ASSURE SMT (Ubuntu):
```
xhost + local:
docker compose -f docker-compose-linux-app-nvidia.yaml up
```
### Start ASSURE SMT (Windows):
```
docker compose -f docker-compose-windows-wsl-app.yaml up
```
### Supported Roadnetwork Map formates (Load)
- [OpenPlanner](https://gitlab.com/autowarefoundation/autoware.ai/core_planning) map format .kml
- Signle path file .csv
- Vector Map, collection of .csv files composing the map
- [OpenDRIVE](http://www.opendrive.org/), is open file format for the logical description of road networks .xodr
- [Lanelet2](https://github.com/fzi-forschungszentrum-informatik/Lanelet2), map format .osm, with autoware extention
### Supported Roadnetwork Map formates (Save)
- [OpenPlanner](https://gitlab.com/autowarefoundation/autoware.ai/core_planning) map format .kml
- Google Earth .kml format, if only the loaded vector map has GPS information.
- [Lanelet2](https://github.com/fzi-forschungszentrum-informatik/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](https://youtu.be/lignj-gVGVg)
- [Video Tutorials V0.2](https://youtu.be/PXcE7XMSKck)
- [Older Video Tutorials](https://www.youtube.com/watch?v=p_4HwJvu084&list=PLVAImlqqGbr4G8GXMsqp6dMhbKxTCEnrh&index=1)
## New features
- New OpenDRIVE parser
- 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](https://spatialreference.org/ref/epsg/2449/) provides prepared projection string, if you select [Proj4js format](https://spatialreference.org/ref/epsg/2449/proj4js/). you will get this string which represent central Japan area.
- Documentation document is uploaded
### 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.