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lanelet2_standalone

This is a standalone lanelet2 c++/python3 package for the Lanelet2 library, which does not require ROS and catkin.

Dependencies

  • Boost (from 1.58, for lanelet2_io)
  • eigen3
  • pugixml (for lanelet2_io)
  • geographiclib (for lanelet2_projection)
  • python3.6+

Install the dependencies above:

sudo apt-get install libboost-dev libeigen3-dev libgeographic-dev libpugixml-dev

Installing

Install lanelet2 for system python3:

cd lanelet2_standalone
sudo python3 setup.py install

For whom wants to use the lanelet2 standalone c++ library

cd lanelet2_standalone
mkdir build
cd build
cmake ..
make
sudo make install

Usage

#!/usr/bin/env python
import lanelet2
from lanelet2 import core, io, projection, geometry, routing, traffic_rules
# or
from lanelet2.core import Lanelet, LineString3d, Point2d, Point3d, getId, LaneletMap, BoundingBox2d, BasicPoint2d
p = Point3d(getId(), 1, 100, 1000)
print(p)
assert p.x == 1
p.id = getId()