Map format for Autoware

[HamedMesri-TomTom]

In TomTom, we are developing a new map product that is based on crowdsourced sensor observations from cars. In R&D collaborations with Automotive partners, we are using map samples to validate such maps in different automotive use cases. We didn’t yet fix a map format for these new map samples to support automated driving applications. For R&D collaborations we consider delivering those map samples in the OpenDrive format. That allows us to use the map samples in most simulation environments and also convert them to different formats used in Automotive applications such as NDS and OSM-lanelet2.

We would also like the map samples to be usable in Autoware systems. Currently, Autoware uses OSM-lanelet2. We would like to understand your opinions about the different options to support the new maps of TomTom in Autoware. Based on the discussions during the mapping workgroup meeting, here are some options:

• Autoware to support the conversion from OpenDrive to OSM-lanelet2
• Autoware to adopt OpenDrive as a map standard for simulation and automated driving applications
• Autoware to support an extension of OSM-lanelet2 to be more compatible with OpenDrive format, e.g. adding road section model (lane-group-based models).
• Other options?

[n-patiphon]

I think there already are open-source tools for converting from OpenDrive to Lanelet2.
These are some of the examples:

1. https://github.com/JHMeusener/osm2xodr
2. https://gitlab.lrz.de/tum-cps/commonroad-scenario-designer.

I have never tried them myself, so I cannot tell if they will work for Autoware out of the box. However, if these tools work, option 1 will be the easiest choice to test your sample maps in Autoware.

[mitsudome-r]

Some other conversion tools that I've heard of are:

• https://github.com/hatem-darweesh/assuremappingtools
• https://github.com/usdot-fhwa-stol/opendrive2lanelet

[yukkysaito]

I remember that when we used to discuss which map format to adopt as Autoware, OpenDrive was one of the candidates but was ruled out.

Please wait as I look for that thread. The log of that discussion might help.

[yukkysaito]

• https://discourse.ros.org/t/map-library-for-autoware-auto/11720
• https://discourse.ros.org/t/autoware-maps-and-map-formats-working-group-meeting-minutes-24-july-2019/10059/10