Standable Autoware Lanelet2 Extension

This repository provides a standalone implementation of the Lanelet2 library and Autoware's Lanelet2 extension, allowing for map processing and route planning without ROS dependencies.

Setup

This repository will build and install the Lanelet2 library and the autoware_lanelet2_extension (first in the local directory).

# Install common packages (required for bare Ubuntu container)
sudo apt install git gcc cmake python3 python3-pip

# Install additional necessary packages
bash pre-install.sh 

# Build the repositories (creates an 'install' folder locally)
bash build.sh

# Add environmental variables to the current terminal
source setup.bash

After installation, lanelet2 and autoware_lanelet2_extension_python can be used as standard Python packages anywhere in your environment.

Note: This installation has been tested and verified on Ubuntu 22.04 containers.

Tutorials

This repository includes three Jupyter notebooks that serve as tutorials:

Basic Operation

• Setting up environments
• Loading maps
• Getting local map
• Visualizing lanelets
• Computing routes and connecting lanelets

Regulation Elements

• Extracting traffic light information
• Extracting road types and polygons

JSON Schema

• Indexing into keyframes
• Visualizing current keyframe
  • Visualizing routes
  • Visualizing history and future
  • Visualizing traffic lights
• Visualizing in local coordinate system

API Changes

• Replaced geometry pose messages with NumPy arrays
• Improved Python function documentation

Acknowledgments

Thanks to Rosless-Lanelet2 for their development work that contributed to this project.