LANELET2 INTERFACE ROS

Library for providing a loaded lanelet2 map and the used geodetic (latitude/ longitude) to Cartesian (easting x/ northing y) projection along with the frame that the x/y coordinates are referenced to.

Use this to ensure you use the same map and the same lat/lon to x/y projection in all your nodes.

Usage

C++

Just include this in your cpp ROS node like

#include "lanelet2_interface_ros/lanelet2_interface_ros.hpp"

//...

lanelet2_interface_ros::Lanelet2InterfaceRos ll2if;
lanelet::LaneletMapConstPtr mapPtr = ll2if.waitForMapPtr(10, 30); // pull with 10Hz for max. 30s

Python

or in your python ROS node like

from lanelet2_interface_ros import Lanelet2InterfaceRos
import lanelet2

# ...

# somewhere after rospy.init_node()
ll2if = Lanelet2InterfaceRos()
llmap = ll2if.waitForNonConstMapPtr(10, 30)  # pull with 10Hz for max. 30s

and launch/include the launchfile set_lanelet_map.launch to receive a loaded map. You need to provide the path to the map file and an origin, as in this test.

License

This package is distributed under the 3-Clause BSD License, see LICENSE.