Awesome
<img src="https://user-images.githubusercontent.com/20182801/61394945-3e7cbd80-a8ff-11e9-8930-f827ef2cfd69.png"> <p align="center"> <a href="https://zatitech.com" target="_blank"> <img src="https://user-images.githubusercontent.com/20182801/93010360-b52a4f00-f5c6-11ea-8649-ecec117e5f7f.png" class="center" width="300"> </a> </p> <img src="https://user-images.githubusercontent.com/20182801/61394821-fb224f00-a8fe-11e9-82d5-6e008df6710e.png" width="200" >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:
- Install Docker.
- Test docker works by following the helloworld tutorial.
- Install nvidia container toolkit.
- Test that you have access to nvidia from docker by running either (glxgears or nvidia-smi)
- You might need to install the following on the host:
sudo apt install mesa-utils
Docker installation (Windows 10)
On the host:
- Install PowerShell from Microsoft Store. Will be used to run Docker command in the following steps.
- Install Docker.
- Start Docker Desktop from the start menu.
- 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 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
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 provides prepared projection string, if you select Proj4js format. 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.