aligned lanelet maps, add crossing map

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
autowarefoundation · Mar 5, 2025 · 25d9d5a · 25d9d5a
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diff --git a/common/autoware_lanelet2_utility/CMakeLists.txt b/common/autoware_lanelet2_utility/CMakeLists.txt
@@ -30,5 +30,6 @@ ament_auto_package(INSTALL_TO_SHARE
 
 install(PROGRAMS
   scripts/lanelet_anonymizer.py
+  scripts/lanelet_id_aligner.py
   DESTINATION lib/${PROJECT_NAME}
 )
diff --git a/common/autoware_lanelet2_utility/README.md b/common/autoware_lanelet2_utility/README.md
@@ -156,12 +156,26 @@ std::vector<T> forEachMatchInMultiMap(const MapT& map, const KeyT& key, Func&& f
 }
 ```
 
-## How to craft test map
+## Test maps
+
+| Map name                    | Origin point id | Image |
+| --------------------------- | --------------- | ----- |
+| `road_shoulder/highway.osm` | `1`             |       |
+| `road_shoulder/pudo.osm`    | `140`           |       |
+| `intersection/crossing.osm` | `1867`          |       |
+
+### How to craft test map
 
 On the VMB, create the map in local projector(or convert it to local projector from MGRS projector) and save the file as `<input_map.osm>`. Next, select the point to use as (0.0, 0.0) and pass its `<ID>` and run
 
 ```bash
 ros2 run autoware_lanelet2_utility lanelet_anonymizer.py <input_map.osm> <output_map.osm> <ID>
 ```
 
-Then the coordinate of the specified point is (0, 0) on the loaded map
+Then the coordinate of the specified point is (0, 0) on the loaded map.
+
+By applying `lanelet_id_aligner.py`, the primitive ids are aligned to start from 1 and increase one-by-one.
+
+```bash
+ros2 run autoware_lanelet2_utility lanelet_id_aligner.py <input_map.osm>
+```