init Vector map

Signed-off-by: ismetatabay <[email protected]>
autowarefoundation · Oct 9, 2023 · 5d30482 · 5d30482
1 parent bb1747f
commit 5d30482
Show file tree

Hide file tree

Showing 14 changed files with 63 additions and 3 deletions.
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/.pages b/docs/how-to-guides/integrating-autoware/creating-maps/.pages
@@ -1,5 +1,6 @@
 nav:
   - index.md
   - Open-source SLAM algorithms: open-source-slam
-  - Converting UTM map to MGRS map: convert-utm-to-mgrs-map
+  - Converting UTM map to MGRS map: converting-utm-to-mgrs-map
   - Pointcloud map downsampling: pointcloud-map-downsampling
+  - Creating a vector map: creating-vector-map
diff --git a/...ating-maps/convert-utm-to-mgrs-map/.pages → ...ng-maps/converting-utm-to-mgrs-map/.pages b/...ating-maps/convert-utm-to-mgrs-map/.pages → ...ng-maps/converting-utm-to-mgrs-map/.pages
diff --git a/...ing-maps/convert-utm-to-mgrs-map/index.md → ...-maps/converting-utm-to-mgrs-map/index.md b/...ing-maps/convert-utm-to-mgrs-map/index.md → ...-maps/converting-utm-to-mgrs-map/index.md
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/.pages b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/.pages
@@ -0,0 +1,4 @@
+nav:
+  - index.md
+  - Lanelet 2: lanelet2
+  - Crosswalk: crosswalk
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/.pages b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/.pages
@@ -0,0 +1,2 @@
+nav:
+  - index.md
diff --git a/...-autoware/creating-maps/creating-vector-map/crosswalk/images/LIO-SAM-output.png b/...-autoware/creating-maps/creating-vector-map/crosswalk/images/LIO-SAM-output.png
diff --git a/...egrating-autoware/creating-maps/creating-vector-map/crosswalk/images/system.png b/...egrating-autoware/creating-maps/creating-vector-map/crosswalk/images/system.png
diff --git a/...uides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md b/...uides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md
@@ -0,0 +1 @@
+# Creating a crosswalk attribute
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/index.md
@@ -0,0 +1,20 @@
+# Creating a vector map
+
+## Overview
+
+In this section, we will explain how to create Lanelet2 maps with TIER IV's [vector map builder tool](https://tools.tier4.jp/feature/vector_map_builder_ll2/).
+
+If you want to look at another method,
+[MapToolbox](https://github.com/autocore-ai/MapToolbox) is a plugin for [Unity](https://unity.com/) specifically designed to create Lanelet2 maps for Autoware.
+We didn't recommend [JOSM](https://josm.openstreetmap.de/) since it needs modifications for Autoware usage.
+So, this process can be tedious and time-consuming.
+
+## Vector Map Builder
+
+You need a TIER IV account for using vector map builder tool.
+So, if you have not before, please [create a TIER IV account](https://account.tier4.jp/registration?return_to=/oidc/login?login_challenge=81c846efae994bf8a79dac0aab6b8875)
+in order to use [vector map builder tool](https://tools.tier4.jp/feature/vector_map_builder_ll2/).
+
+You can follow these pages for creating a Lanelet2 map and its regulatory elements.
+
+- [Lanelet 2](./lanelet2)
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/lanelet2/.pages b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/lanelet2/.pages
@@ -0,0 +1,2 @@
+nav:
+  - index.md
diff --git a/...g-autoware/creating-maps/creating-vector-map/lanelet2/images/pointcloud-map.png b/...g-autoware/creating-maps/creating-vector-map/lanelet2/images/pointcloud-map.png
diff --git a/...guides/integrating-autoware/creating-maps/creating-vector-map/lanelet2/index.md b/...guides/integrating-autoware/creating-maps/creating-vector-map/lanelet2/index.md
@@ -0,0 +1,28 @@
+# Creating a Lanelet
+
+At this page, we will explain how to create a simple lanelet on your pointcloud map.
+
+## Creating a Lanelet2
+
+Firstly, we need to import our pointcloud map to vector map builder tool:
+
+1. Please click `File`.
+2. Then, click `Import PCD`.
+3. Click `Browse` and select your .pcd file.
+
+You will display the point cloud on your vector map builder tool after the upload is complete:
+
+<figure markdown>
+  ![pointcloud-map](images/pointcloud-map.png){ align=center }
+  <figcaption>
+    Uploaded pointcloud map file on vector map builder
+  </figcaption>
+</figure>
+
+Now, we are ready to create lanelet2 map on our pointcloud map:
+
+1. Please click `Create`.
+2. Then, click `Create Lanelet2Maps`.
+3. Please fill your map name
+4. Please fill your MGRS zone. (At tutorial_vehicle, MGRS grid zone: 35T - MGRS 100,000-meter square: PF)
+5. Click `Create`.
diff --git a/...-to-guides/integrating-autoware/creating-maps/open-source-slam/lio-sam/index.md b/...-to-guides/integrating-autoware/creating-maps/open-source-slam/lio-sam/index.md
@@ -201,7 +201,7 @@ Here is the video for demonstration of LIO-SAM mapping in our campus environment
 The output map format is local UTM,
 we will change local UTM map to MGRS format for tutorial_vehicle.
 Also, if you want change UTM to MGRS for autoware,
-please follow [convert-utm-to-mgrs-map](../../convert-utm-to-mgrs-map) page.
+please follow [convert-utm-to-mgrs-map](../../converting-utm-to-mgrs-map) page.
 
 ## Example Result
 

diff --git a/...-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/index.md b/...-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/index.md
@@ -58,4 +58,6 @@ we are using `Space` method for subsampling, but you can use other methods if yo
 </figure>
 
 Now,
-you can save your downsampled pointcloud with `ctrl + s` or you can click save button from `File` bar.
+you can save your downsampled pointcloud with `ctrl + s`
+or you can click save button from `File` bar.
+Then, this pointcloud can be used by autoware.