Loading Other Map Formats

[mitsudome-r]

Feature request

Description

Current Autoware can only load Aisan's vector map.
I will be creating map loaders for Autoware Map Format, Lanelet2, and OpenDrive.
Map loader will convert the other maps into Aisan's format so that it can be used by Autoware nodes without changing their codes.

Implementation considerations

I already have converters for :

• Autoware Map Format -> Aisan Format
• Lanelet2 -> Autoware Map Format

And @hatem-darweesh has

• OpenDrive -> Autoware Map Format conversion

Which means all formats can be converted into Aisan format via Autoware Map Format.

Alternatives

I have considered converting directly into Aisan Vector Map from all other formats.
I chose to use the above conversion flow since Autoware Map Format and Lanlet2 had similar structure, and it was easier for me to convert from Lanelet2 -> Autoware Map Format rather than directly into Aisan Vector Format.
We are still in discussion about which format to use as internal structure(issue #529), so if that is decided, then we might want to change the conversion flow as well.
(I prefer to use Autoware Map Format as internal data structure, and that is also the reason for the above implementation.)

Additional information

If there are any other well known formats used for Autonomous Driving, please let me know.

Related Issues:
#408、#1937

[gbiggs]

See https://gitlab.com/autowarefoundation/autoware.ai/utilities/merge_requests/2