Package Summary

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Version 1.0.1
License BSD
Build type CATKIN

Repository Summary

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VCS Type git
VCS Version master
Last Updated 2020-05-29
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Package Description

Lanelet2 projection library for lat/lon to local x/y conversion

Additional Links


  • Jan-Hendrik Pauls


  • Jan-Hendrik Pauls

Lanelet2 Projection Module

This module implements different projection functions as required by lanelet2_io.

Need for projections

As map data is commonly stored in WGS84 (lat/lon/ele) and lanelet2 operates on metrical data, there is a need for precise projection functions between the two. There are very good projection functions available, but they have to be used with the correct origin (close to the location of the map).

Maps loaded with a wrong origin can easily be distorted by 40% and more. Angle calculations will be wrong as well.

For more details, read here.

Supported Projections

  • UTM.h: WGS84 (for storage in .osm files) <-> UTM (internal processing) (wrapper of This projection has the advantage of being very precise, but all points in the map must fit into one UTM Tile. If points exceed a 100km margin, the map can not be loaded.
  • Mercator.h: WGS84 (for storage in .osm files) <-> Local Mercator as in liblanelet. Approximates the earth

Changelog for package lanelet2_projection

1.0.1 (2020-03-24)

  • Make sure lanelet2 buildtool_export_depends on mrt_cmake_modules
  • Add changelogs
  • Contributors: Fabian Poggenhans

1.0.0 (2020-03-03)

  • Bump version to 1.0
  • Improved readmes and corrected typos
  • Initial commit
  • Contributors: Fabian Poggenhans

Wiki Tutorials

See ROS Wiki Tutorials for more details.

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