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Corkyw10/maps documentation (#4233) * Restructured maps docs layout and fixed affected URLs * Updated RoadRunner map generation doc. Includes link for Leaderboard license * Updated package ingestion doc so it is located in the main navigation bar. All relative links have been fixed. * Moved customization information to separate tutorial. Added next steps * Moved manual preparation of json package to separate tutorial. * Added how to add traffic light and signs documentation. Updated nav with approriate page name. Cropped photo to show an updated view of UE editor * Redraft of the weather and landscape tutorial * Updated tutorial for using the road painter. Typo fix in other tutorials for map customization * Added tutorial to add levels to maps * Added images for maps tutorials * Minor syntax changes to manual package prep * Full drafts of map documentation * Added images and corrected names for building shaders * [NO_BUILD] First draft of Large Maps docs (#4396) * Drafting large map docs * Changed name of spawn_npc script * Syntax changes * Corrected hybrid mode dormant behavior, added code for setting ego vehicle, removed expensive note about map calls * Added section for roadrunner large maps * Added images to roadrunner docs and rearranged nav bar and titles. * Added corrections to import of large maps and standard map nomenclature Co-authored-by: bernat <bernatx@gmail.com> * Made corrections to spawn points and additional fbx folder information * Fixed mentions of normal maps to standard maps Co-authored-by: bernat <bernatx@gmail.com>
2021-07-30 17:20:23 +08:00
# Generate Pedestrian Navigation
To allow pedestrians to navigate a map, you will need to generate a pedestrian navigation file. This guide details what meshes to use and how to generate the file.
- [__Before you begin__](#before-you-begin)
- [__Pedestrian navigable meshes__](#pedestrian-navigable-meshes)
- [__Optional pedestrian navigation options__](#optional-pedestrian-navigation-options)
- [__Generate the pedestrian navigation__](#generate-the-pedestrian-navigation)
---
## Before you begin
Map customization (adding buildings, painting the road, adding landscape features, etc.) should be completed before generating the pedestrian navigation in order to avoid interference or collisions between the two, resulting in the need to generate the pedestrian navigation a second time.
---
## Pedestrian navigable meshes
Pedestrians can only navigate specific meshes. You need to name the meshes you want to include in pedestrian navigation according to the nomenclature in the table below:
| Type | Name includes | Description |
|------|------------|-------------|
| Ground | `Road_Sidewalk` or `Roads_Sidewalk` | Pedestrians will walk over these meshes freely. |
| Crosswalk | `Road_Crosswalk` or `Roads_Crosswalk` | Pedestrians will walk over these meshes as a second option if no ground is found. |
| Grass | `Road_Grass` or `Roads_Grass` | Pedestrians won't walk on this mesh unless you specify a percentage of them to do so. |
| Road | `Road_Road` or `Roads_Road` <br> `Road_Curb` or `Roads_Curb` <br> `Road_Gutter` or `Roads_Gutter` <br> `Road_Marking` or `Roads_Marking` | Pedestrians will only cross roads through these meshes. |
<br>
---
## Optional pedestrian navigation options
The following step is not necessary for generating a pedestrian navigation, but allows you to customize pedestrian activity to a certain extent.
- __Generate new crosswalks__.
Avoid doing this if the crosswalk is already defined the `.xodr` file as this will lead to duplication:
1. Create a plane mesh that extends a bit over two sidewalks that you want to connect.
2. Place the mesh overlapping the ground and disable it's physics and rendering.
3. Change the name of the mesh to `Road_Crosswalk` or `Roads_Crosswalk`.
![ue_crosswalks](../img/ue_crosswalks.jpg)
---
## Generate the pedestrian navigation
__1.__ To prevent the map being too large to export, select the __BP_Sky object__ and add a tag `NoExport` to it. If you have any other particularly large meshes that are not involved in the pedestrian navigation, add the `NoExport` tag to them as well.
![ue_skybox_no_export](../img/ue_noexport.png)
__2.__ Double check your mesh names. Mesh names should start with any of the appropriate formats listed below in order to be recognized as areas where pedestrians can walk. By default, pedestrians will be able to walk over sidewalks, crosswalks, and grass (with minor influence over the rest):
* Sidewalk = `Road_Sidewalk` or `Roads_Sidewalk`
* Crosswalk = `Road_Crosswalk` or `Roads_Crosswalk`
* Grass = `Road_Grass` or `Roads_Grass`
![ue_meshes](../img/ue_meshes.jpg)
__3.__ Press `ctrl + A` to select everything and export the map by selecting `File` -> `Carla Exporter`. A `<mapName>.obj` file will be created in `Unreal/CarlaUE4/Saved`.
__4.__ Move the `<mapName>.obj` and the `<mapName>.xodr` to `Util/DockerUtils/dist`.
__5.__ Run the following command to generate the navigation file:
* __Windows__
```sh
build.bat <mapName> # <mapName> has no extension
```
* __Linux__
```sh
./build.sh <mapName> # <mapName> has no extension
```
__6.__ A `<mapName>.bin` file will be created. This file contains the information for pedestrian navigation on your map. Move this file to the `Nav` folder of the package that contains the map.
__7.__ Test the pedestrian navigation by starting a simulation and running the example script `generate_traffic.py` in `PythonAPI/examples`.
---
If you have any questions about the process, then you can ask in the [forum](https://github.com/carla-simulator/carla/discussions).
<div class="build-buttons">
<p>
<a href="https://github.com/carla-simulator/carla/discussions" target="_blank" class="btn btn-neutral" title="Go to the CARLA forum">
CARLA forum</a>
</p>
</div>