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lanelet_msgs package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Message and service definitions for Lanelet2 map queries

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/lanelet_msgs/README.md

lanelet_msgs

ROS2 message and service definitions for Lanelet2 map queries.

Note: The lanelet_msgs::msg::Lanelet message is a ROS-serializable representation of lanelet data, distinct from lanelet::ConstLanelet in the Lanelet2 C++ library. The world_model node converts between these types internally using LaneletHandler::toLaneletMsg().

Messages

Message Description
Lanelet Complete per-lanelet data (geometry, semantics, connectivity, regulatory elements)
RouteAhead Lanelets ahead of ego on the active route (enables BFS via successor_ids)
CurrentLaneContext Real-time ego lane context with distances to events
MapVisualization Subset of lanelets for RViz visualization
TrafficLightInfo Traffic light position and associated stop line
StopLineInfo Stop line geometry

Services

Service Description
SetRoute Set destination and resolve lanelet IDs for routing
GetShortestRoute Get entire shortest route from ego to goal
GetLaneletsByRegElem Find lanelets associated with a regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Recent questions tagged lanelet_msgs at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Package symbol

lanelet_msgs package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Message and service definitions for Lanelet2 map queries

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/lanelet_msgs/README.md

lanelet_msgs

ROS2 message and service definitions for Lanelet2 map queries.

Note: The lanelet_msgs::msg::Lanelet message is a ROS-serializable representation of lanelet data, distinct from lanelet::ConstLanelet in the Lanelet2 C++ library. The world_model node converts between these types internally using LaneletHandler::toLaneletMsg().

Messages

Message Description
Lanelet Complete per-lanelet data (geometry, semantics, connectivity, regulatory elements)
RouteAhead Lanelets ahead of ego on the active route (enables BFS via successor_ids)
CurrentLaneContext Real-time ego lane context with distances to events
MapVisualization Subset of lanelets for RViz visualization
TrafficLightInfo Traffic light position and associated stop line
StopLineInfo Stop line geometry

Services

Service Description
SetRoute Set destination and resolve lanelet IDs for routing
GetShortestRoute Get entire shortest route from ego to goal
GetLaneletsByRegElem Find lanelets associated with a regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Recent questions tagged lanelet_msgs at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

lanelet_msgs package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Message and service definitions for Lanelet2 map queries

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/lanelet_msgs/README.md

lanelet_msgs

ROS2 message and service definitions for Lanelet2 map queries.

Note: The lanelet_msgs::msg::Lanelet message is a ROS-serializable representation of lanelet data, distinct from lanelet::ConstLanelet in the Lanelet2 C++ library. The world_model node converts between these types internally using LaneletHandler::toLaneletMsg().

Messages

Message Description
Lanelet Complete per-lanelet data (geometry, semantics, connectivity, regulatory elements)
RouteAhead Lanelets ahead of ego on the active route (enables BFS via successor_ids)
CurrentLaneContext Real-time ego lane context with distances to events
MapVisualization Subset of lanelets for RViz visualization
TrafficLightInfo Traffic light position and associated stop line
StopLineInfo Stop line geometry

Services

Service Description
SetRoute Set destination and resolve lanelet IDs for routing
GetShortestRoute Get entire shortest route from ego to goal
GetLaneletsByRegElem Find lanelets associated with a regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Recent questions tagged lanelet_msgs at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package symbol

lanelet_msgs package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Message and service definitions for Lanelet2 map queries

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/lanelet_msgs/README.md

lanelet_msgs

ROS2 message and service definitions for Lanelet2 map queries.

Note: The lanelet_msgs::msg::Lanelet message is a ROS-serializable representation of lanelet data, distinct from lanelet::ConstLanelet in the Lanelet2 C++ library. The world_model node converts between these types internally using LaneletHandler::toLaneletMsg().

Messages

Message Description
Lanelet Complete per-lanelet data (geometry, semantics, connectivity, regulatory elements)
RouteAhead Lanelets ahead of ego on the active route (enables BFS via successor_ids)
CurrentLaneContext Real-time ego lane context with distances to events
MapVisualization Subset of lanelets for RViz visualization
TrafficLightInfo Traffic light position and associated stop line
StopLineInfo Stop line geometry

Services

Service Description
SetRoute Set destination and resolve lanelet IDs for routing
GetShortestRoute Get entire shortest route from ego to goal
GetLaneletsByRegElem Find lanelets associated with a regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Recent questions tagged lanelet_msgs at Robotics Stack Exchange

Package symbol

lanelet_msgs package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Message and service definitions for Lanelet2 map queries

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/lanelet_msgs/README.md

lanelet_msgs

ROS2 message and service definitions for Lanelet2 map queries.

Note: The lanelet_msgs::msg::Lanelet message is a ROS-serializable representation of lanelet data, distinct from lanelet::ConstLanelet in the Lanelet2 C++ library. The world_model node converts between these types internally using LaneletHandler::toLaneletMsg().

Messages

Message Description
Lanelet Complete per-lanelet data (geometry, semantics, connectivity, regulatory elements)
RouteAhead Lanelets ahead of ego on the active route (enables BFS via successor_ids)
CurrentLaneContext Real-time ego lane context with distances to events
MapVisualization Subset of lanelets for RViz visualization
TrafficLightInfo Traffic light position and associated stop line
StopLineInfo Stop line geometry

Services

Service Description
SetRoute Set destination and resolve lanelet IDs for routing
GetShortestRoute Get entire shortest route from ego to goal
GetLaneletsByRegElem Find lanelets associated with a regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Recent questions tagged lanelet_msgs at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

lanelet_msgs package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Message and service definitions for Lanelet2 map queries

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/lanelet_msgs/README.md

lanelet_msgs

ROS2 message and service definitions for Lanelet2 map queries.

Note: The lanelet_msgs::msg::Lanelet message is a ROS-serializable representation of lanelet data, distinct from lanelet::ConstLanelet in the Lanelet2 C++ library. The world_model node converts between these types internally using LaneletHandler::toLaneletMsg().

Messages

Message Description
Lanelet Complete per-lanelet data (geometry, semantics, connectivity, regulatory elements)
RouteAhead Lanelets ahead of ego on the active route (enables BFS via successor_ids)
CurrentLaneContext Real-time ego lane context with distances to events
MapVisualization Subset of lanelets for RViz visualization
TrafficLightInfo Traffic light position and associated stop line
StopLineInfo Stop line geometry

Services

Service Description
SetRoute Set destination and resolve lanelet IDs for routing
GetShortestRoute Get entire shortest route from ego to goal
GetLaneletsByRegElem Find lanelets associated with a regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Recent questions tagged lanelet_msgs at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package symbol

lanelet_msgs package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Message and service definitions for Lanelet2 map queries

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/lanelet_msgs/README.md

lanelet_msgs

ROS2 message and service definitions for Lanelet2 map queries.

Note: The lanelet_msgs::msg::Lanelet message is a ROS-serializable representation of lanelet data, distinct from lanelet::ConstLanelet in the Lanelet2 C++ library. The world_model node converts between these types internally using LaneletHandler::toLaneletMsg().

Messages

Message Description
Lanelet Complete per-lanelet data (geometry, semantics, connectivity, regulatory elements)
RouteAhead Lanelets ahead of ego on the active route (enables BFS via successor_ids)
CurrentLaneContext Real-time ego lane context with distances to events
MapVisualization Subset of lanelets for RViz visualization
TrafficLightInfo Traffic light position and associated stop line
StopLineInfo Stop line geometry

Services

Service Description
SetRoute Set destination and resolve lanelet IDs for routing
GetShortestRoute Get entire shortest route from ego to goal
GetLaneletsByRegElem Find lanelets associated with a regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Recent questions tagged lanelet_msgs at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

lanelet_msgs package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Message and service definitions for Lanelet2 map queries

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/lanelet_msgs/README.md

lanelet_msgs

ROS2 message and service definitions for Lanelet2 map queries.

Note: The lanelet_msgs::msg::Lanelet message is a ROS-serializable representation of lanelet data, distinct from lanelet::ConstLanelet in the Lanelet2 C++ library. The world_model node converts between these types internally using LaneletHandler::toLaneletMsg().

Messages

Message Description
Lanelet Complete per-lanelet data (geometry, semantics, connectivity, regulatory elements)
RouteAhead Lanelets ahead of ego on the active route (enables BFS via successor_ids)
CurrentLaneContext Real-time ego lane context with distances to events
MapVisualization Subset of lanelets for RViz visualization
TrafficLightInfo Traffic light position and associated stop line
StopLineInfo Stop line geometry

Services

Service Description
SetRoute Set destination and resolve lanelet IDs for routing
GetShortestRoute Get entire shortest route from ego to goal
GetLaneletsByRegElem Find lanelets associated with a regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Recent questions tagged lanelet_msgs at Robotics Stack Exchange

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

lanelet_msgs package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Message and service definitions for Lanelet2 map queries

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/lanelet_msgs/README.md

lanelet_msgs

ROS2 message and service definitions for Lanelet2 map queries.

Note: The lanelet_msgs::msg::Lanelet message is a ROS-serializable representation of lanelet data, distinct from lanelet::ConstLanelet in the Lanelet2 C++ library. The world_model node converts between these types internally using LaneletHandler::toLaneletMsg().

Messages

Message Description
Lanelet Complete per-lanelet data (geometry, semantics, connectivity, regulatory elements)
RouteAhead Lanelets ahead of ego on the active route (enables BFS via successor_ids)
CurrentLaneContext Real-time ego lane context with distances to events
MapVisualization Subset of lanelets for RViz visualization
TrafficLightInfo Traffic light position and associated stop line
StopLineInfo Stop line geometry

Services

Service Description
SetRoute Set destination and resolve lanelet IDs for routing
GetShortestRoute Get entire shortest route from ego to goal
GetLaneletsByRegElem Find lanelets associated with a regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Recent questions tagged lanelet_msgs at Robotics Stack Exchange