There is the osm_cartography package ( http://wiki.ros.org/osm_cartography?d... ) which might help you. It transforms OSM data like roads etc. and publishes this as markers.

Maybe try Google next time. This leads you directly to this package. If you then have more questions, you can still come asking questions here.

include "marker/marker.hpp"

namespace koordinat_publisher { KoordinatPublisher::KoordinatPublisher(ros::NodeHandle &nodeHandle) : nodeHandle_(nodeHandle) {

    if (!readParameters())
    {
        ROS_ERROR("Could not read parameters.");
        ros::requestShutdown();
    }

    // load the map
    m_map_ = lanelet::load(harita, lanelet::Origin({0,0}));

    for (auto point : m_map_->pointLayer)
    {
        point.x() = point.attribute("local_x").asDouble().value();
        point.y() = point.attribute("local_y").asDouble().value();
    }
    path_subscriber_ = nodeHandle_.createTimer(ros::Duration(1), &KoordinatPublisher::markerCallback, this);
    marker_pub_ = nodeHandle_.advertise<visualization_msgs::MarkerArray>("visualization_marker", 0);

    ROS_INFO("Successfully launched node.");
}

bool KoordinatPublisher::readParameters()
{
    if (!nodeHandle_.getParam("harita", harita))
    {
        return false;
    }
    return true;
}

}

void koordinat_publisher::KoordinatPublisher::markerCallback(const ros::TimerEvent &) { int i = 785;

visualization_msgs::MarkerArray marker_array;
for (auto lanelet : m_map_->laneletLayer)
{
    visualization_msgs::Marker marker;
    marker.header.frame_id = "map";
    marker.header.stamp = ros::Time();
    marker.ns = "my_namespace";
    marker.type = visualization_msgs::Marker::LINE_STRIP;
    marker.action = visualization_msgs::Marker::ADD;
    marker.scale.x = 1.0;
    marker.scale.y = 1.0;
    marker.scale.z = 1.0;
    marker.color.a = 1.0;
    marker.color.r = 1.0;
    marker.color.g = 0.0;
    marker.color.b = 0.0;

    std::vector<geometry_msgs::Point> right_bound;
    for (auto point : lanelet.rightBound())
    {
        geometry_msgs::Point tmp;
        tmp.x = point.x();
        tmp.y = point.y();
        tmp.z = 0.0;
        right_bound.push_back(tmp);
    }

    marker.id = i;
    marker.points = right_bound;
    marker_array.markers.push_back(marker);
    i++;

    std::vector<geometry_msgs::Point> left_bound;
    for (auto point : lanelet.leftBound())
    {
        geometry_msgs::Point tmp;
        tmp.x = point.x();
        tmp.y = point.y();
        tmp.z = 0.0;
        left_bound.push_back(tmp);
    }

    marker.id = i;
    marker.points = left_bound;
    marker_array.markers.push_back(marker);
    i++;
}
marker_pub_.publish(marker_array);

}

ps: i hope it can help you. i just added the code. there are also one header file and one node(cpp) file.