xiaobu-zb / smartcar-pcd-map-tools

Tools for self-driving car ROS1

SmartCar-Tools

Light-weight tools for self-driving car

Description

For the needed of our project, I designed two small tools currently:

1. grid_map_generator: Used to downsample the pcd maps and divide one big pcd map to small one, which are the input of pcd_map_manager.
2. trajectory_generator: Used to extract defined driving paths (trajectoies), which is a light-weight description of roads.

For the useage of each tool, refer to their own README document

How to Build

This repo depends on QT-5.9 and ROS1.0, be sure it is correctly installed on your pc. I tested it on Ubuntu1604 and 'Ubuntu1804'

1. mkdir -p catkin_ws/src && cd catkin_ws/src
2. git clone https://github.com/LitoNeo/SmartCar-Tools.git
3. cd .. && catkin_make

Note: Just as general ROS modules, you need to source devel/setup.bash before running the tools

map_tool modules

Tools used to process map data.(especially for pcd files)

1. trajectory_generator A qt-based tools used to define and extract drivable trajectory. Currently it only extracts drivable trajectories, that is, a minimum subset of high-precision maps. But it is flexible to extend.

2. grid_map_generator A qt-based tools to downsample and mesh the big pcd maps to small one.
   For more details, refer here