HD Maps: Exploiting OpenDRIVE potential for Path Planning and Map Monitoring

This code contains the layers for mapping and planning developed in this work.

Each of the layers contains its own documentation.

Publications

If you use this software in your research, please cite our publication:

"HD Maps: Exploiting OpenDRIVE potential for Path Planning and Map Monitoring" , ..., [Accepted paper, to be published in Jun 2022]

Modules

• Mapping: Parses the information from an HD map in OpenDRIVE format to visualize the map and generate a map monitor.
• Planning: Global planner to calculate a route of waypoints from ego-vehicle location to a goal location.

Requirements

• ROS Noetic
• t4ac_msgs
• networkx
• Both modules, mapping and planning, require the other