Lanelet2 editor — free, browser-based, no install

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drawtonomy is, first and foremost, a free browser-based whiteboard for driving scenarios. Because lanes are first-class shapes with topology-aware connections, the same canvas also works as a free, browser-based Lanelet2 editor: open a Lanelet2 .osm file, edit lane boundaries and connections visually in 2D, and re-export to Lanelet2 — all in the browser. No install, no account. Regulatory elements and tags drawtonomy doesn’t manage in the UI are preserved through a sidecar.

Importing a Lanelet2 .osm map, then editing lane geometry in the browser.

How it compares to other Lanelet2 editors

TIER IV Vector Map Builder — free, browser-based, designed for Autoware. Supports lanes plus regulatory elements (traffic lights, stop lines, crosswalks, parking) and a point cloud reference layer. The right tool for serious Autoware HD-map work.
JOSM with the Autoware Lanelet2 plugin — the classic desktop OSM editor extended for Lanelet2.
MapToolbox — Unity-based vector map editor for Autoware.

drawtonomy is the browser-based, lightweight, free option for 2D geometry edits and small-map cropping. If your edit needs regulatory elements (traffic-light groupings, right-of-way relations, speed limits) authored in the UI, or you’re working at city scale, use Vector Map Builder or JOSM.

Side-by-side comparisons: drawtonomy vs JOSM, vs Vector Map Builder, vs MapToolbox.

Editing Lanelet2 maps in the browser

What drawtonomy actually does with Lanelet2

Per its exporter documentation:

Reads a Lanelet2 .osm file and renders lanelets as drawtonomy Lane shapes.
Lets you reshape boundaries (drag points, smooth boundaries, basic geometry edits).
Re-exports the result. Regulatory elements and other tags that drawtonomy doesn’t manage in the UI are preserved through a sidecar that round-trips the original .osm content.

What drawtonomy doesn’t do

Creating or editing regulatory elements in the UI — traffic-light groupings, right-of-way relations, speed limits, stop-line / lanelet bindings. Vector Map Builder and JOSM are the right tools for that.
City-scale maps. drawtonomy is tuned for small scenes.
Survey-grade authoring against LiDAR / aerial imagery.
Bulk operations — no filters, no batch edits across thousands of lanelets.
Point cloud reference layer. Vector Map Builder supports tracing on top of a PCD; drawtonomy does not.

Where drawtonomy can still save time

Inspecting a Lanelet2 map quickly without installing anything.
Light geometric tweaks — fixing a boundary that wandered, smoothing a jagged segment — on a small map.
Cropping a region from a larger sample map for a paper figure or teaching example.
Producing a clean figure of a small piece of an existing map.

If your edit needs regulatory elements or you’re working at city scale, use Vector Map Builder or JOSM. drawtonomy is for the geometry / visualization side only.

Concrete workflow: a small geometry fix

Import → Lanelet2 OSM.
Pan / zoom to the lanelet you need to touch.
Click to select; drag boundary control points; use the Smooth Boundary button.
Export → Lanelet2 OSM.
Diff input and output to confirm only what you intended changed.

The sidecar mechanism means tags and regulatory elements outside drawtonomy’s UI scope are preserved as-is on re-export, so the rest of the map is untouched.

See Import Lanelet2 OSM maps for the import details.

Lanelet2 → OpenSCENARIO bundle

If you have a Lanelet2 map and want a simple driving scenario based on it, drawtonomy can act as a visual bridge — but a narrow one.

Lanelet2 OSM  →  drawtonomy canvas  →  Simple OpenSCENARIO + OpenDRIVE bundle

Concretely:

Import the Lanelet2 map.
Trim and adjust geometry as needed.
Add a small set of scenario participants.
Indicate intent with Path arrows.
Export the esmini bundle (.xosc + .xodr + run.sh).

What this gives you

A quick way to base a paper-figure or design-discussion scenario on an existing Lanelet2 map.
A small playable scene in esmini for the simple case.
A reusable .drawtonomy.svg source for figure variants.

What this doesn’t give you

A real Lanelet2 → OpenDRIVE converter. drawtonomy’s exporter doesn’t do analytical-geometry reconstruction. It produces an OpenDRIVE that’s a visual reinterpretation of the lanelets, not an industry-grade conversion. For that, use a dedicated converter — for example, the CommonRoad Scenario Designer toolbox has Lanelet2 ↔ OpenDRIVE conversion through the CommonRoad intermediate format, and there are research tools that target this directly.
Production scenarios. drawtonomy expresses a subset of OpenSCENARIO 1.3 — no conditional triggers, parameter sweeps, custom controllers, or complex storyboards.
Lanelet2 regulatory elements in the destination. Imported regulatory elements are preserved on re-export through a sidecar, but they don’t propagate as <signal> or storyboard entries on the OpenSCENARIO side today.
Tight Autoware integration. drawtonomy stops at the OpenSCENARIO/OpenDRIVE pair; running scenarios inside an Autoware stack needs Autoware’s own tooling.

Practical notes

Crop before exporting. Lanelet2 maps often cover much more area than you need.
Verify lane direction. Imported lanelet direction maps to OpenDRIVE lane direction. Check that sidewalks / opposite-direction lanes haven’t survived as drivable lanes.
Test in esmini for the simple case. The exported scenario plays back simple paths; expect to extend it by hand for anything more.

When to do this differently

City-scale or production-grade Lanelet2 → OpenDRIVE conversion → use a dedicated converter.
Production scenario fleets → generate from code against a known-good OpenDRIVE base, or use a DSL.
Autoware-internal scenarios → use Autoware’s own scenario tooling.