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Lanelet2

  • Software
  • Cars
  • Library

A C++ library with Python bindings for handling high-definition map data for automated driving, covering lanes, routing, traffic rules and map projections.

Made by FZI Forschungszentrum Informatik, Germany (checked on github.com/fzi-forschungszentrum-informatik (opens in a new tab)).

Source on GitHub: github.com/fzi-forschungszentrum-informatik/Lanelet2 (opens in a new tab). Facts read at commit de0b178 (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit de0b178 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Represents map primitives in 2D and 3D, with consistent modification so owning objects see point changes.
  • Supports lane changes and routing through areas, with separate routing for pedestrians, vehicles and bikes.
  • Offers customization points for traffic rules, routing costs and parsers, plus convenience functions for common map tasks.
  • Projects between lat/lon geographic coordinates and local metric coordinates.
  • Reads and writes OSM-style map data formats through an IO interface.
  • Provides Boost Geometry support for geometry calculations on map primitives.

Written by Robotheca from the project's README (opens in a new tab) at commit de0b178.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
Targeted towards Linux; requires at least C++14, Boost (from 1.58), eigen3, pugixml, geographiclib, and Python bindings need boost-python with python2 or python3. Installable with ROS, from PyPI for Python 3.8-3.11 on Linux, via Docker, or via Conan.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
10 Oct 2026 on master
Latest release
1.2.3 (18 Jun 2026)

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.