pgm_to_lanelet

A tool for drawing a Lanelet2 map using occupancy grid map (.pgm) as a background. The package is useful for basic vector map creation which contains only road lanes.

Installation

rosdep install --from-paths src --ignore-src -y
colcon build --symlink-install --packages-up-to pgm_to_lanelet

Usage

ros2 launch pgm_to_lanelet pgm_to_lanelet.launch.py map_yaml_path:=path/to/map.yaml

API

Parameters

Name	Type	Description
map_yaml_path	string	Path to .pgm map config.
line_width	int	GUI line width between points.
point_size	int	GUI point size.

User Interface

key / mouse button	Description
z	remove last drawn point
x	change between inner and outer loop
s	save drawn map to .osm file
left mouse button	draw point
mouse scroll	zoom in/out the map
ctrl + arrows	move the image while beeing zoomed in

References / External links

• Lanelet2