# hdmapping-to-ros1 | ros1-to-hdmapping | hdmapping-to-ros2| ros2-to-hdmapping

Simlified instruction

Step 1 (prepare code)

mkdir -p ~/hdmapping-benchmark
cd ~/hdmapping-benchmark
git clone https://github.com/MapsHD/mandeye_to_bag.git --recursive

Step 2 (build docker)

cd ~/hdmapping-benchmark/mandeye_to_bag
docker build -t mandeye-ws_noetic --target ros1 .
docker build -t mandeye-ws_humble --target ros2 .

Step 3 (run docker)

cd ~/hdmapping-benchmark/mandeye_to_bag
chmod +x mandeye-convert.sh 
./mandeye-convert.sh <input_hdmapping_folder> <output_folder> hdmapping-to-ros1 //remark output_folder should not exists, it will be created
./mandeye-convert.sh <input_hdmapping_folder> <output_folder> hdmapping-to-ros2
./mandeye-convert.sh <input_ros1_bag> <output_folder> ros1-to-hdmapping
./mandeye-convert.sh <input_ros2_folder> <output_folder> ros2-to-hdmapping

Dependencies

sudo apt update
sudo apt install -y docker.io
sudo usermod -aG docker $USER

Workspace

mkdir -p ~/hdmapping-benchmark
cd ~/hdmapping-benchmark
git clone https://github.com/MapsHD/mandeye_to_bag.git --recursive

Docker build

cd ~/hdmapping-benchmark/mandeye_to_bag
docker build -t mandeye-ws_noetic --target ros1 .
docker build -t mandeye-ws_humble --target ros2 .

Docker run

cd ~/hdmapping-benchmark/mandeye_to_bag
chmod +x mandeye-convert.sh 
./mandeye-convert.sh <input_hdmapping_folder> <output_folder> hdmapping-to-ros1
./mandeye-convert.sh <input_hdmapping_folder> <output_folder> hdmapping-to-ros2
./mandeye-convert.sh <input_ros1_bag> <output_folder> ros1-to-hdmapping
./mandeye-convert.sh <input_ros2_folder> <output_folder> ros2-to-hdmapping