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lanelet2_rviz2 ROS2 package - OSMVisualizer

OSMVisualizer is a ROS 2 node for visualizing OpenStreetMap (OSM) data in RViz2. It processes .osm files specified via launch parameters and publishes markers for map elements, such as nodes, ways, and relations.

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Features

  • Static File Loading: Reads the .osm filename from a launch file parameter (osm_filename).
  • Advanced Visualization in RViz2:
  • Displays map relations as colored line strips:
    • Left ways are shown in lime.
    • Right ways are shown in red.
  • Relation areas are filled using polygon triangulation.
  • Speed limits are visualized with a gradient color scale:
    • Green for lower speeds.
    • Blue for medium speeds.
    • Red for higher speeds.
  • One-way relations are marked with dynamically positioned direction arrows.
  • Dynamic Parameter Reconfiguration: Modify visualization settings like line_width, frame_id, or speed_color_max during runtime without restarting the node.
  • Reusable Data Structures: Efficiently processes nodes, ways, and relations.

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Topics

Published

  • /osm_relations (visualization_msgs/msg/MarkerArray): Marker array for relations (left and right ways).
  • /osm_speed (visualization_msgs/msg/MarkerArray): Marker array for relation areas, visualized with speed gradient colors.
  • /osm_one_way_arrows (visualization_msgs/msg/MarkerArray): Marker array for one-way direction arrows.

Parameters

Node Parameters

  • osm_filename (string): Path to the .osm file to process.
  • frame_id (string): The coordinate frame for visualization markers (default: "map_gyor_0").
  • line_width (double): Width of the visualization lines (default: 0.8).
  • center_map (bool): Center the map in RViz2 (default: false).
  • speed_color_max (double): Maximum speed limit for gradient visualization (default: 90.0).

Usage

1. Build the Project

Make sure your ROS 2 workspace is set up. Clone this repository into the src directory and build it:

cd ~/ros2_ws/src && git clone https://github.com/jkk-research/lanelet2_rviz2

cd ~/ros2_ws && colcon build --packages-select lanelet2_rviz2 --symlink-install

source ~/ros2_ws/install/setup.bash

2. Run the Node

Launch the OSMVisualizer node with a launch file specifying the .osm filename:

ros2 launch lanelet2_rviz2 visualize_osm.launch.py

ros2 run lanelet2_rviz2 visualize_osm --ros-args -p osm_filename:=/mnt/c/map/lanelet.osm -p frame_id:=map

3. Visualize in RViz2

  • Open RViz2: 
    rviz2
  • Add a MarkerArray display.
  • Set the topics to:
  • /osm_relations for line strips representing left and right ways.
  • /osm_speed for filled relation areas with speed gradient.
  • /osm_one_way_arrows for direction arrows.

4. Dynamic Parameter Updates

Update visualization parameters during runtime using the ros2 param set command. Example:

ros2 param set /osm_visualizer line_width 1.5

Or with rqt_reconfigure:

ros2 run rqt_reconfigure rqt_reconfigure

Usage with Pointcloud

Option 1. - pcl_ros

sudo apt install ros-$ROS_DISTRO-pcl-ros

ros2 run pcl_ros pcd_to_pointcloud --ros-args -p file_name:=/home/he/dlio_map2.pcd -p tf_frame:=map_gyor_0 -p publishing_period_ms:=500 --qos-reliability best_effort

Option 2. - pcd_publisher

github.com/jkk-research/pcd_publisher

ros2 run pcd_publisher pcd_publisher --ros-args -p pcd_file_path:=/home/dev/autoware_map/gyor_campus/pointcloud_map.pcd -p topic_name:=/points_campus -p frame_id:=map_gyor_0

Acknowledgments

  • RapidXML is used for parsing the OSM files.
  • Earcut is used for polygon triangulation, enabling visualization of filled areas in RViz2.