This base image is intented for CARMA Streets services that require lanelet2 for spatial understanding of the surrouding area. Currently both Message Service and Intersection Model both depend on lanelet2 for this purpose. The new propose Sensor Data Sharing Service will also need lanelet2 for map transforms and for eventual perception. To allow all three services and any future services easy access to this dependency, this new Streets Service Base Lanelet Aware image exist.
Important
Currently this base image is only being used for the Sensor Data Sharing Service but both the Intersection_Model and Message Service should be ported to this base image as well.
Simply use the following to extend this image
FROM usdotfhwastoldev/streets_service_base_lanelet_aware:<tag>
The image also contains the environment variable LANELET2_MAP, which is assigned a default value of /home/carma-streets/MAP/Intersection.osm, but can be overwritten using the docker-compose environment variable section of the service description. An example is shown belo
lanlet_aware_service:
image: usdotfhwastoldev/lanlet_aware_service:develop
environment:
LANELET2_MAP: /new/path/to/lanelet2/map.osm