p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
carla/Docs/large_map_roadrunner.md

108 lines
5.1 KiB
Markdown
Raw Normal View History

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
# Create a Large Map in RoadRunner
RoadRunner is the recommended software to create large maps to be imported into CARLA. This guide outlines what RoadRunner is, things to consider when building the large map and how to export custom large maps ready for importing into CARLA.
- [__Introduction to RoadRunner__](#introduction-to-roadrunner)
- [__Before you start__](#before-you-start)
- [__Build a large map in RoadRunner__](#build-a-large-map-in-roadrunner)
- [__Export a large map in RoadRunner__](#export-a-large-map-in-roadrunner)
- [__Next steps__](#next-steps)
---
## Introduction to RoadRunner
RoadRunner is an interactive editor that lets you design 3D scenes for simulating and testing automated driving systems. It can be used to create road layouts and accompanying OpenDRIVE and geometry information. Find out more about RoadRunner [here][rr_home].
RoadRunner is part of the MATLAB Campus-Wide Licenses, so many universities can provide unlimited academic access. [Check][rr_eligibility] if your university has access. Reach out to *automated-driving@mathworks.com* for any questions or troubles regarding accessibility. There is also a [trial version][rr_trial_version] available.
A license for RoadRunner is also available to everyone participating in the CARLA Leaderboard. Click [here][rr_leaderboard] for more information.
[rr_home]: https://www.mathworks.com/products/roadrunner.html
[rr_trial_version]: https://www.mathworks.com/products/roadrunner.html
[rr_eligibility]: https://www.mathworks.com/academia/tah-support-program/eligibility.html
[rr_leaderboard]: https://www.mathworks.com/academia/student-competitions/carla-autonomous-driving-challenge.html
---
## Before you start
You will need to install RoadRunner. You can follow the [installation guide][rr_docs] at the Mathworks website.
[rr_docs]: https://www.mathworks.com/help/roadrunner/ug/install-and-activate-roadrunner.html
---
## Build a large map in RoadRunner
The specifics of how to build a large map in RoadRunner go beyond the scope of this guide, however, there are video tutorials available in the [RoadRunner documentation][rr_tutorials].
If you are building a large map with elevation, the recommended largest size of the map is 20km by 20km. Maps larger than this may cause RoadRunner to crash on export.
[rr_tutorials]: https://www.mathworks.com/support/search.html?fq=asset_type_name:video%20category:roadrunner/index&page=1&s_tid=CRUX_topnav
updated Index page, rearranged nav bar, corrected links to broken images, corrected default settings for wheel physics, added anysys rtr information
2021-07-30 18:37:46 +08:00
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
---
## Export a large map in RoadRunner
Below is a basic guideline to export your custom large map from RoadRunner.
[exportlink]: https://www.mathworks.com/help/roadrunner/ug/Exporting-to-CARLA.html
Once you have made your map in RoadRunner you will be able to export it. Be aware that __the road layout cannot be modified after it has been exported.__ Before exporting, ensure that:
- The map is centered at (0,0) to ensure the map can be visualized correctly in Unreal Engine.
- The map definition is correct.
- The map validation is correct, paying close attention to connections and geometries.
>>>>![CheckGeometry](../img/check_geometry.jpg)
Once the map is ready, click on the `OpenDRIVE Preview Tool` button to visualize the OpenDRIVE road network and give everything one last check.
>>>>![checkopen](../img/check_open.jpg)
!!! note
_OpenDrive Preview Tool_ makes it easier to test the integrity of the map. If there are any errors with junctions, click on `Maneuver Tool`, and `Rebuild Maneuver Roads`.
Make sure the full map is selected for export by clicking on the [_World settings tool_](https://www.mathworks.com/help/roadrunner/ref/worldsettingstool.html) and dragging the edges of the blue boundary box to encompass the full area you would like to export. when it's ready, click on _Apply World Changes_.
![world_bounds_settings](img/rr_world_settings.png)
When you are ready to export:
__1.__ Export the `.fbx`:
- In the main toolbar, select `File` -> `Export` -> `Firebox (.fbx)`
__2.__ In the window that pops up:
>- Check the following options:
- _Split by Segmentation_: Divides the mesh by semantic segmentation and imroves pedestrian navigation.
- _Power of Two Texture Dimensions_: Improves performance.
- _Embed Textures_: Ensures textures are embedded in the mesh.
- _Export to Tiles_: Choose the size of the tiles. The maximum size that can be used by CARLA is 2000 x 2000.
- _Export Individual Tiles_: Generates the individual tiles needed for streaming large maps in CARLA.
>>>>>>![export_large_map_fbx](../img/large_map_export_fbx.png)
__3.__ Export the `.xodr`:
- In the main toolbar, select `File` -> `Export` -> `OpendDRIVE (.xodr)`
!!! Warning
Make sure that the `.xodr` and the `.fbx` files have the same name.
---
## Next steps
You are now ready to import your map into CARLA. See the [__Import a Large Map__](large_map_import.md) guide for more details.
---
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>