rviz_adas_map_builder

The rviz plugin to modify ADAS map (AISAN format) with Rviz, written in c++, for human beings all over the world. Mainly for Autoware.

Features

• By using Rviz, you can add other tools.
• You can modify the HDMap with localizing and checking the actual position of each element. (Can't add element. That function is future work!)
• AISAN vector map builder which officially released is hard to modify the small error of position.
• Waypoints (csv) for Autoware.AI's waypoint follower is also supported.

Requirement

• ubuntu
• ros
• QT5 (basic packages, initially installed with ros)

Install

1. create catkin_ws

cd /path/to/anydir
mkdir -p catkin_ws/src
cd /catkin_ws/src
catkin_init_workspace

2. download and build package

cd /catkin_ws/src
git clone https://github.com/kuriatsu/rviz_hdmap_editor.git rviz_hdmap_editor
cd ../
catkin_make

3. Download example (optional) from here

The sample map is very huge, I recommend to use more lighter map. The indention code of the sample is CRLF, but c++ only support LF. Change character code by (you may need to install nkf by sudo apt install nkf)

nkf -Lu --overwrite data/map/vector_map/*.csv

Usage

1. start rviz

source /catkin_ws/devel/setup.bash
roscore &
rviz

2. Load HDmap and pointclond map and publish /map tf or without them like below

rosrun tf static_transform_publisher 0 0 0 0 0 0 /map /tf 100

3. Change current frame to /map in global option

4. Add panel

5. You can find the panel at left side.

6. Show InteractiveMarker and Marker.

7. Push ... button in the panel and Select HDMap. point.csv, line.csv, vector.csv, and dtlane.csv are necessary.

8. Select output folder.

9. Push OK

10. Click checkbox which you want to edit. (fig shows when you click node)

The coordinate of the sample map is very far from origin (-15811.335, -85688.332) Please move view point.

11. Edit points.

12. Push Save to save your modification.

Tips

• TopDownOrtho is better to edit. If you want to move along z axis, please use the other option.
• Rotation is supported. Please zoom in and find the circle which signifies that motion.

Contribution

1. Fork this https://github.com/kuriatsu/rviz_hdmap_editor.git
2. Create your feature branch.
3. Commit your changes (git commit -am "add some feature")
4. Push to the branch (git push origin my-new-feature)
5. Create new Pull Request

Licence

Author

kuriatsu

Change Log

2020/11/12

Maintain README.md Not support adding element to the map. Supports only editing. It's hard to edit along z axis. Need to be updated.