Hi,

If you have an Android or Windows Mobile device you can do that with:
OSMTracker:
http://wiki.openstreetmap.org/wiki/OSMtracker
http://wiki.openstreetmap.org/wiki/OSMtracker_%28Android%29

If you want to do this with a laptopand JOSM, you can use:
http://wiki.openstreetmap.org/wiki/JOSM/Plugins/Surveyor

You can also read this wiki page on mapping public transport:
http://wiki.openstreetmap.org/wiki/JOSM/Plugins/public_transport

Regards,

Gaël

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