Modify lanelet2 map

[bdcong]

Hello Hatem-san,

Thank you for your works. I followed your link to download pcd and osm maps of Carla's Towns. I now want to add parking lot and parking spaces in those maps. I have tried with JOSM but the map doesn't show the parking space in rviz when launching Autoware. Do you have any suggestions on this?

Thank you in advance.

[hatem-darweesh]

using assuremappingtools, you can add a boundary then change its type to parking area. the exported lanelet will include such information. Please confirm that it does. I haven't tested this feature since 2 years ago.

[bdcong]

Thank you so much, Hatem-san. I am having some issues with the docker installation of assuremappingtools currently. After fixing that, I will try it and post the result in this post.

[bdcong]

Hello again Hatem-san,

Thank you so much for creating this tool. I can load the osm file of Carla's Town maps to assuremappingtools. However, I have several questions:

1. What type of projection should I choose? For now, I used "No projection" and got the following message:

Can't Open File!, /assuremappingtools/maps/Town07.osm.proj.dat 
 >> Loading Map using Autoware OSM parser and UTM projector.
Using projection string: 
Using origin : X:0, Y:0, Z:0, A:0
Lon:0, Lat:0, Alt:0, Dir:0

Is it ok to just ignore it?

2. This question may be related to question 1 above. Where can I find the information of origin position of the above maps? In your Google Drive, I can only see pcd and lanelet2 map.

3. Some lanes of the osm file are missing in your tool but when I load it to Autoware.Universe, the lane is still there. Do you have any ideas why this may happen and how to fix it? Or can we ignore it?

4. I can add boundary and change the type to parking but when I load it to Autoware,Universe (followed Autoware.Universe tutorial), the parking lot doesn't show up and can't be recognized by Autoware, either (cannot select the goal pose at the parking space).

Thank you in advance.