carla/Docs/how_to_make_a_new_map.md

<h1>How to create and import a new map</h1>

![Town03](img/create_map_01.jpg)

## 1 Create a new map

Files needed:

* Binaries `.fbx` - All meshes you need to build the map, i.e., roads, lanemarking, sidewalk, ect.
* OpenDRIVE `.xodr` - Road network information that cars need to circulate on the map.

It is possible to modify an existing CARLA map, check out the [map customization][custommaplink]
tutorial.

[custommaplink]: /dev/map_customization

The following steps will introduce the RoadRunner software for map creation. If the map is
created by other software, go to this [section](#3-importing-into-unreal).

## 2 Create a new map with RoadRunner

RoadRunner is a powerful software from Vector Zero to create 3D scenes. Using RoadRunner is easy,
in a few steps you will be able to create an impressive scene. You can download
a trial of RoadRunner at VectorZero's web page.

<div class="vector-zero">
  <a href="https://www.vectorzero.io/"><img src="/img/VectorZeroAndIcon.webp"/></a>
</div> <br>

Read VectorZero's RoadRunner [documentation][rr_docs] to install it and get started.

They also have very useful [tutorials][rr_tutorials] on how to use RoadRunner, check them out!

[rr_docs]: https://tracetransit.atlassian.net/wiki/spaces/VS/pages/740622413/Getting+Started

[rr_tutorials]: https://www.youtube.com/channel/UCAIXf4TT8zFbzcFdozuFEDg/playlists

!!! important
    Create the map centered arround (0, 0).

## 2.1 Validate the map

* Check that all connections and geometries seem correct.

![CheckGeometry](img/check_geometry.jpg)

* Visualize the OpenDRIVE road network by clicking on the `OpenDRIVE Preview Tool`
button and export.

![checkopen](img/check_open.jpg)

!!! note
    The _OpenDrive Preview Tool_ button lets you test the integrity of the current map.
    If there is any error with map junctions, click on `Maneuver Tool`
    and `Rebuild Maneuver Roads` buttons.

!!! important
    Apply a 180 degree rotation before exporting `Tools > Transform Scene ... > Rotation`

## 2.2 Export the map

After verifying that everything is correct, it is time to export the map to CARLA.

  1. Export the scene using the CARLA option in the main menu:<br>
  `File > Export > CARLA (.fbx + .xml + .xodr)`.

  2. Leave `Export individual Tiles` _unchecked_, this will generate only one fbx
  file with all the pieces making it easier to keep track of the map.

      ![rr_export](img/rr_export_view.png)

      <br>

  3. Click `Export`.

This will generate a `mapname.fbx` and `mapname.xodr` files within others.

_For a more in-depth guide on how to use the exportation option,_
_check VectorZeros's [documentation][exportlink]._

[exportlink]: https://tracetransit.atlassian.net/wiki/spaces/VS/pages/752779356/Exporting+to+CARLA

## 3 Importing into Unreal

This section is divided into two. The first part shows how to import a map from RoadRunner
and the second part shows how to import a map from other software that generates `.fbx` and `.xodr` files.

!!! important
    The `.xodr` OpenDRIVE file should have the same name as the binary file `.fbx`
    i.e. `mapname.fbx` `mapname.xodr`.

We have also created a new way to import assets into Unreal,
check this [`guide`](../asset_packages_for_dist/)!

### 3.1 Importing from RoadRunner

#### 3.1.1 Plugin Installation

RoadRunner provides a series of plugins that make the importing simpler.

1. Locate the plugins under RoadRunner's installation folder:<br>
   `/usr/bin/VectorZero/Tools/Unreal/Plugins`.

2. Copy those folders to the CarlaUE4 plugins directory: `/carla/Unreal/CarlaUE4/Plugins/`.

3. Rebuild the plugin.

##### Rebuild on Windows

1. Generate project files.

    * Right-click the `.uproject` file and `Generate Visual Studio project files`.

2. Open the project and build the plugins.

##### Rebuild on Linux

```sh
> UE4_ROOT/GenerateProjectFiles.sh -project="carla/Unreal/CarlaUE4/CarlaUE4.uproject" -game -engine
```

Finally, restart Unreal Engine and make sure the checkbox is on for both plugins `Edit > Plugins`.

![rr_ue_plugins](img/rr-ue4_plugins.png)

#### 3.1.2 Importing

  1. Import the _mapname.fbx_ file to a new folder under `/Content/Carla/Maps`
   with the `Import` button.

      ![ue_import](img/ue_import_mapname.png)

      <br>

  2. Set `Scene > Hierarchy Type` to _Create One Blueprint Asset_ (selected by default).
  3. Set `Static Meshes > Normal Import Method` to _Import Normals_.

      ![ue_import_options](img/ue_import_options.png)

      <br>

  4. Click `Import`.

  5. Save the current level `File > Save Current As...` > _mapname_.

The new map should now appear next to the others in the Unreal Engine _Content Browser_.

![ue_level_content](img/ue_level_content.png)

And that's it! The map is ready!

### 3.2 Importing from the files

This is the generic way to import maps into Unreal.

1. Create a new level with the **Map** name in Unreal `Add New > Level` under `Content/Carla/Maps`.
2. Copy the Illumination folder and its content from the BaseMap `Content/Carla/Maps/BaseMap`
and paste it in the new level, otherwise, the map will be in the dark.

![ue_illumination](img/ue_illumination.png)

#### 3.2.1 Binaries (.fbx)

1. Import the _mapname.fbx_ file to a new folder under `/Content/Carla/Maps`
  with the `Import` button. Make sure the following options are unchecked:

    * Auto Generate Collision
    * Combine Meshes
    * Force Front xAxis
    * Normal Import Method - _Import Normals_

    <br>

2. Check the following options:

    * Convert Scene Unit
    * _If you want to import materials and textures:_
        * Material Import Method - _Create new materials_
        * Import Textures

    ![ue_import_file](img/ue_import_file.png)

    <br>

    Once everything is loaded up, you should end with several static Meshes in the folder
    you have selected.

3. Drag them all into the level.

    ![ue_meshes](img/ue_drag_meshes.png)

    <br>

4. When Unreal Engine finishes loading, center the meshes at point (0, 0, 0) and you will have
  your map in Unreal! Congratulations!

    ![Transform_Map](img/transform.jpg)

    <br>

5. Generate collisions, so pedestrians and vehicles don't fall into the abyss.

    * Select the meshes that will have collision.
    * Right-click `Asset Actions > Bulk Edit via Property Matrix...`.

      ![ue_selectmesh_collision](img/ue_selectmesh_collision.png)

    * Search for _collision_ in Property's Matrix search box.
    * Change `Collision complexity` from `Project Default` to `Use Complex Collision As Simple`.

      ![ue_collision_complexity](img/ue_collision_complexity.png)

    * Go to `File > Save All`.

6. Lastly, for the **semantic segmentation ground truth**, move the static meshes imported
 under `Content/Carla/Maps/mapfolder` to `Carla/Static` subsequent folders:

    * `Terrain/mapname`
    * `Road/mapname`
    * `RoadLines/mapname`

```sh
Content
└── Carla
    ├── Blueprints
    ├── Config
    ├── Exported Maps
    ├── HDMaps
    ├── Maps
    └── Static
        ├── Terrain
        │   └── mapname
        │       └── Static Meshes
        │
        ├── Road
        │   └── mapname
        │       └── Static Meshes
        │
        └── RoadLines  
            └── mapname
                └── Static Meshes
```

![ue__semantic_segmentation](img/ue_ssgt.png)

#### 3.2.2 OpenDRIVE (.xodr)

1. Copy the `.xodr` file inside the `Content/Carla/Maps/OpenDrive` folder.
2. Open the Unreal level and drag the _Open Drive Actor_ inside the level.
It will read the level's name, search the Opendrive file with the same name and load it.

![ue_opendrive_actor](img/ue_opendrive_actor.png)

And that's it! Now the road network information is loaded into the map.

## 4. Setting up traffic behavior

Once everything is loaded into the level, it is time to create traffic behavior.

1. Click on the _Open Drive Actor_.
2. Check the following boxes in the same order:
    * Add Spawners
    * (Optional) On Intersections (For more spawn points)
    * Generate Routes

This will generate a bunch of _RoutePlanner_ and _VehicleSpawnPoint_ actors that make
it possible for vehicles to spawn and go in autopilot mode.

## 4.1 Traffic lights and signs

To regulate the traffic, traffic lights and signs must be placed all over the map.

1. Drag _traffic light / sign actors_ into the level and place them.

2. Adjust the _[`trigger box`][triggerlink]_ of each traffic light / sign
 until it covers the road it affects.
  [triggerlink]: ../python_api/#carla.TrafficSign.trigger_volume

    ![ue_trafficlight](img/ue_trafficlight.png)

    <br>

3. For traffic lights in junctions, drag a _traffic light group actor_ into the level and assign
  all traffic lights involved.

    ![ue_tl_group](img/ue_tl_group.png)

These last steps may require some trial and error. _Traffic light timing_ and _traffic trigger boxes_
might need some tweaking and testing to fit perfectly into the city.

![ue_tlsigns_example](img/ue_tlsigns_example.png)

> _Example: Traffic Signs, Traffic lights and Turn based stop._

## 5 Adding pedestrian navigation zones

To make a navigable mesh for pedestrians, we use the _Recast & Detour_ library.<br>
<https://github.com/recastnavigation/recastnavigation>.

1. Clone or download _Recast & Detour_.

2. Before building RecastDemo you need to change `m_scale` variable from `1.0f` to `0.01f` in the
 _MeshLoaderObj contructor_ in `RecastDemo/Source/MeshLoaderObj.cpp`.

```cpp
rcMeshLoaderObj::rcMeshLoaderObj() :
	m_scale(0.01f),
	m_verts(0),
	m_tris(0),
	m_normals(0),
	m_vertCount(0),
	m_triCount(0)
{
}
```
Then build RecastDemo. Follow their [instructions][buildrecastlink] on how to build it.

[buildrecastlink]: https://github.com/recastnavigation/recastnavigation#building-recastdemo

**Back to Unreal Engine**

1. Select the meshes you want the pedestrians to be able to spawn and walk on.

    ![ue_mesh_to_obj](img/ue_mesh_to_obj.png)

    <br>

2. Export and save them as a `mapname.obj` file. `File > Export Selected...`.
3. Run RecastDemo `./RecastDemo`.
      * Select `Solo Mesh` from the `Sample` parameter's box.
      * Select the _mapname.obj_ file from the `Input Mesh` parameter's box.

        ![recast_example](img/recast_example.png)

      <br>

4. First click on the `Build` button, then once the built has finished, click on the `Save` button.
5. Change the **filename** of the binary file generated at `RecastDemo/Bin` to `mapname.bin`.
6. Drag the _mapname.bin_ file into the `Nav` folder under `Content/Carla/Maps`.

Now pedestrians will be able to spawn randomly and walk on the selected meshes!

## Tips and Tricks

* Traffic light group controls wich traffic light is active (green state) at each moment.
 You can configure the timing that the lights stay in green `GreenTime`, the time it stays yellow
 `YellowTime`, and the time it takes between one traffic light goes red and the next one
 goes green `ChangeTime`.

<div style="text-align:center"><img src="../img/ue_tl_group_times.png"/></div>
<br>

* You can add a vehicle spawn point. This should be placed 2 to 3 meters above a Route Planner's
 trigger box and oriented as the route shows. When the vehicle falls, it will hit the trigger box
 and the autopilot will take control of the vehicle.

  ![ue_vehicle_spawnpoint](img/ue_vehicle_spawnpoint.png)

* When you check `Generate Routes` in Open Drive Actor, it generates the road network but it won't
  show individual planners. In order to show those points, please do the following:

    1. Select all `RoutePlanner` actors.
    2. Move them.
    3. Press `ctr + z` and they will show up on the map.
    ![ue_route_points](img/ue_route_points.png)

* OpenDRIVE routes can be manually modified.

  ![ue_routeplanner_mod](img/ue_routeplanner_mod.png)

* In order to add the map to the Unreal packaging system, go to:<br>
  `Edit > Project Settings > Project > Packaging > Show Advanced > List of maps to include...` <br>
  Then add the level to the array.

  ![ue_maps_to_include](img/ue_maps_to_include.png)

* To change default materials and use the ones that come with CARLA at:<br>
`Content/Carla/Static/GenericMaterials`.
    * Unreal shortcuts to find materials and assets:
        * `Right-click on the Asset > Browse to Asset`
        * `Right-click on the Material > Asset Actions > Select Actors Using This Asset`