Lanelet2

Overview

Lanelet2 is a C++ library for handling map data in the context of automated driving. It is designed to utilize high-definition map data in order to efficiently handle the challenges posed to a vehicle in complex traffic scenarios. Flexibility and extensibility are some of the core principles to handle the upcoming challenges of future maps.

Features:

• 2D and 3D support
• Consistent modification: if one point is modified, all owning objects see the change
• Supports lane changes, routing through areas, etc.
• Separated routing for pedestrians, vehicles, bikes, etc.
• Many customization points to add new traffic rules, routing costs, parsers, etc.
• Simple convenience functions for common tasks when handling maps
• Accurate Projection between the lat/lon geographic world and local metric coordinates
• IO Interface for reading and writing e.g. osm data formats (this does not mean it can deal with osm maps)
• Python bindings for the whole C++ interface
• Boost Geometry support for all thinkable kinds of geometry calculations on map primitives
• Released under the BSD 3-Clause license
• Support for ROS1, ROS2, Docker and Conan (see instructions below)

Lanelet2 is the successor of the old liblanelet that was developed in 2013. If you know Lanelet1, you might be interested in reading this.

Documentation

You can find more documentation in the individual packages and in doxygen comments. Here is an overview on the most important topics:

• Here is more information on the basic primitives that make up a Lanelet2 map.
• Read here for a primer on the software architecture of lanelet2.
• There is also some documentation on the geometry calculations you can do with lanelet2 primitives.
• If you are interested in Lanelet2’s projections, you will find more here.
• To get more information on how to create valid maps, see here.

You can also find the documentation at this link.

Installation

Within ROS

Lanelet2 has been released for ROS. Just install ros-[distribution]-lanelet2, e.g.:

sudo apt install ros-noetic-lanelet2

Without ROS

Outside of ROS, Lanelet2 can be installed from PyPI. Note that currently only Python 3.8-3.11 linux builds are available and that Python 3.10+ is only supported for recent linux distributions such as Ubuntu 20.04+.

pip install lanelet2

Note:

If you receive the error

ERROR: Could not find a version that satisfies the requirement lanelet2 (from versions: none)
ERROR: No matching distribution found for lanelet2

during installation, even when using e.g. python 3.9 or 3.8 on a somewhat recent linux such as Ubuntu 18.04 or newer, your pip version is probably too old, as e.g. the pip version that comes with apt on Ubuntu 20.04 (20.0.2) is not recent enough for the provided package.

In this case you need to simply update pip with

pip3 install -U pip 

Using Docker

There is a Docker container from which you can test things out:

docker build -t lanelet2 .                    # builds a docker image named "lanelet2"
docker run -it --rm lanelet2:latest /bin/bash # starts the docker image
python -c "import lanelet2"                   # quick check to see everything is fine

The docker image contains a link to your local lanelet2, so you can work and see changes (almost) at the same time. Work with two screens, one local and one on docker. Make your code changes locally, then run again catkin build on docker to recompile the code (update python modules).

Manual installation

In case you want to build it in your own way (without the above Docker image) use these instructions.

Lanelet2 relies mainly on Catkin for building and is targeted towards Linux.

At least C++14 is required.

Dependencies

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