Lanelet2_maps

Early stage lanelet2 maps from Győr and ZalaZone, created by Krisztián Enisz and Mátyás Mesics.

ZalaZone Maps origin in UTM coords: [639770.000, 5195040.000, 0.000] based on map_zala_0 ROS tf frame [33T zone] (There are several online UTM-WGS84 converters)

GyorUni Maps origin in UTM coords: [697237.000, 5285644.000, 0.000] based on map_gyor_0 ROS tf frame [33T zone]

ZalaZone University track

ZalaZone SmartCity track

Győr campus

Usage without ROS

• Tier4 Tool - Vector Map Builder is a tool that helps to create a vector map from point cloud data.
• Assure mapping tools - Desktop based tool for viewing, editing and saving road network maps for autonomous vehicle platforms such as Autoware.
• MapToolbox - Plugins to make Lanelet2/vector_map in Unity
• JOSM - Java OpenStreetMap Editor

There are numerous solutions for UTM-WGS84 conversion in python, in c++ or in MATLAB.

Python

pip install utm

UTM-WGS84 conversion

import utm
utm.to_latlon(639770.000, 5195040.000, 33, 'T')

Result

(46.894188434576925, 16.834861347101725)

WGS84-UTM conversion

import utm
utm.from_latlon(47.69405596312653, 17.62866888484998)

Result

(697237.0000192814, 5285644.004006204, 33, 'T')

Usage with ROS

cd ~
https://github.com/jkk-research/lanelet2_maps

cd catkin_ws/src
git clone https://github.com/mesmatyi/common
catkin build map_file

roslaunch map_file lanelet2_map_loader_zala.launch 

Other handy commands

rosrun tf static_transform_publisher 429.0 -1455.0 0.0 0.0 0.0 0.0 map_zala_0 map_zala_1 50 
rosrun tf static_transform_publisher 200.0 68.0 0.0 0.0 0.0 0.0 map_zala_0 map_zala_2 50  
rosrun tf static_transform_publisher -40.0 -40.0 0.0 0.0 0.0 0.0 map_gyor_0 map_gyor_1 50  

Alternative:

• lanelet_rviz_plugin_ros - Rviz Plugin for displaying a lanelet2 map.

Usage with ROS 2

A simple publisher from a yaml file. Alternative:

• Autoware Universe - map_loader package