Lanelets to Path

ROS2 node for converting an Autoware map and route in Lanelet2 format to a reference path represented by a vector of 2D points and two road boundaries, represented by the width to the right and left boundary from the centerline.

Output format

An Autoware autoware_auto_planning_msgs::msg::PathWidthLaneId message with centerline in points, distances between points in heading_rate_rps, boundaries in left_bound and right_bound and velocities in longitudinal_velocity_mps.

Installing

All components should be installed automatically using:

rosdep install --from-paths src --ignore-src -r -y

Usage

Use:

ros2 launch lanelets_to_path lanelets_to_path.launch

Example output:

Red dots denote the centerline points and fitted boundary points. Green line is the fitted reference path.