Necessary input parameters:

• traj_path => path to GPS trajectory of the vehicle (format: txt-file with lat, lon)
• poses_path => path to SLAM trajectory of the vehicle (KITTI-format, trajectories don't have to be synchronized over time)
• map_path => path to lanelet2 map corresponding to trajectories (map can have missing elements/attributes, only when using nodelanelet2_osm)
• out_path => path to save the modified lanelet map (DEFAULT: /lanelet2_map.osm, only when using nodelanelet2_osm)
• if you want to georeference the point cloud map corresponding to the lanelet2 map with the same set of control points:
  • set the parametertransform_pcd in the config file totrue
  • adjust the path to the point cloud map (parameterpcd_path)
  • the georeferenced point cloud map will be saved in the current working directory (if you'd like to specify a different path, seekiss_icp_georef

Start the package

• it is recommended to directly use the provided ROS launch file as it starts the package itself and the visualization in RVIZ:
• replace the filepaths and run the following command inside the docker container:

    ros2 launch flexmap_fusion lanelet2_osm.launch.py traj_path:=<path-to-GPS-trajectory> poses_path:=<path-to-SLAM-trajectory>  map_path:=<path-to-lanelet-map> out_path:=<path-to-save-output-map>

• the launch file directly links to the corresponding parameter file in/config/.
• To directly run the package with the provided test files from the Docker root directory, use the following command:

     ros2 launch flexmap_fusion lanelet2_osm.launch.py traj_path:=./src/flexmap_fusion/test/route_1_GPS.txt poses_path:=./src/flexmap_fusion/test/route1_pose_kitti.txt  map_path:=./src/flexmap_fusion/test/lanelet2_route_1.osm out_path:=lanelet2_map_georef.osm

Select control points

• after the trajectories are loaded and the target trajectory is aligned to the master trajectory by the Umeyama algorithm, you are asked in the command window to select control points for the rubber-sheet transformation (the amount of points can be configured in the config file).
• select the desired points using thePublish Point button in RVIZ and follow the instructions in the command window.

Inspect results

• results of the rubber-sheet transformation & lanelet map are visualized
• see table for explanation of single topics

• open a manual editor for lanelet2 maps (e.g.VectorMapBuilder) in parallel to RVIZ
• import the exported map fromout_path
• close gaps in lanelet map and correct other mistakes based on visualization of map agreement withOpenStreetMap in RVIZ

Necessary input parameters:

• traj_path => path to GPS trajectory of the vehicle (format: txt-file with lat, lon)
• poses_path => path to SLAM trajectory of the vehicle (KITTI-format, trajectories don't have to be synchronized over time)
• pcd_path => path to pcd map corresponding to poses trajectory
• pcd_out_path => path to saved the georeferenced point cloud map (DEFAULT: /pcd_map_georef.pcd)

Start the package

• it is recommended to directly use the provided ROS launch file that starts the package itself and the visualization in RVIZ:

    ros2 launch flexmap_fusion kiss_icp_georef.launch.py traj_path:=<path-to-GPS-trajectory> poses_path:=<path-to-SLAM-trajectory>  pcd_path:=<path-to-pcd-map> pcd_out_path:=<path-to-save-pcd-map>

• the launch file directly links to the corresponding parameter file in/config/.

Select control points

• after the trajectories are loaded and the target trajectory is roughly aligned to the master trajectory you are asked in the command window to select control points for the rubber-sheet transformation (the amount of points can be configured in the config file).
• select the desired points using thePublish Point button in RVIZ and follow the instructions in the console.

Inspect results

• results of the rubber-sheet transformation & the resulting, transformed point cloud map are visualized.
• see table for explanation of single topics