lanelet2_map_server

ROS 2 HD Map Server for Automated Driving based on Lanelet2

The lanelet2_map_server node provides a common Lanelet2 map to other modules relying on a map, e.g., the lanelet2_route_planning. The map is loaded from a file and made available as a ROS parameter. For convenience, the lanelet2_map_interface library can be used to receive the map from the server and access it in other nodes. The lanelet2_rviz_display and lanelet2_lichtblick_display packages provide visualization of the map in RViz and Lichtblick, respectively.

🚀 Quick Start • 💻 Development • 📝 Documentation

Important

This repository is part of OpenADS, the Open Automated Driving Systems project. OpenADS and its modules have been initiated and are currently being maintained by the Institute for Automotive Engineering (ika) at RWTH Aachen University.

🚀 Quick Start

1. Launch the demo/docker-compose.yml setup. This will open RViz with a visualization of a Lanelet2 map. The lanelet2_rviz_display visualizes the map, fetching it from the lanelet2_map_server via the lanelet2_map_interface.

   cd demo
   xhost +local: # allow GUI forwarding from containers
   docker compose up -d

2. Stop the demo and clean up.

   docker compose down
   xhost -local: # revoke GUI forwarding permissions

💻 Development

Set up Development Environment

1. Clone the repository.

   git clone https://github.com/openads-project/lanelet2_map_server.git

1. Initialize the .openads-dev-environment submodule containing development environment configuration.

   cd lanelet2_map_server
   git submodule update --init --recursive

1. Open the repository in Visual Studio Code.

   code .

1. Install the recommended VS Code extensions.

   ‍Ctrl+Shift+P / Extensions: Show Recommended Extensions / Install Workspace Recommended Extensions (Cloud Download Icon)

1. Reopen the repository in a Dev Container. Ctrl+Shift+P / Dev Containers: Rebuild and Reopen in Container

Build

‍Ctrl+Shift+B

colcon build

Run Tests

‍Ctrl+Shift+P / Tasks: Run Test Task

colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
colcon test
colcon test-result --verbose

📝 Documentation

Package and node interfaces are documented in the respective package READMEs listed below. Implementation details are found in the Source Code Documentation.

Package	Description
lanelet2_lichtblick_display	Converts Lanelet2 maps to MarkerArrays for visualization in Lichtblick
lanelet2_map_interface	Library to receive Lanelet2 maps from lanelet2_map_server
lanelet2_map_server	Provides Lanelet2 maps to other modules
lanelet2_rviz_display	RViz plugin to visualize Lanelet2 maps

⚖️ Licensing

The source code in this repository is licensed under Apache-2.0, see [LICENSE](LICENSE). Container images provided by this repository may contain third-party software shipped with their own license terms.

An exception applies to the following files, which are licensed under BSD-3-Clause, see LICENSE.BSD-3-Clause: lanelet2_map_helpers.hpp, lanelet2_map_helpers.cpp.

🙏 Acknowledgements

Development and maintenance of this repository are supported by the following projects. We acknowledge the funding of the respective institutions.

Project	Funding Institution	Grant Number
autotech.agil	🇩🇪 Federal Ministry for Research, Technology and Space (BMFTR)	01IS22088A
AIthena	🇪🇺 European Union	101076754

_{^{Funded by the European Union. Views and opinions expressed are however those of the author(s) only and do not necessarily reflect those of the European Union or the European Climate, Infrastructure and Environment Executive Agency (CINEA). Neither the European Union nor CINEA can be held responsible for them.}}