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<h1>How to make a new map in Carla with RoadRunner</h1>
<h1>How to make a new map in CARLA with RoadRunner</h1>
![Town03](img/create_map_01.jpg)
<h2>RoadRunner</h2>
RoadRunner is a powerful software from Vector Zero to create road maps. Get the
hang of RoadRunner is easy, in few steps you can create a map. You can download
Free Trial on:
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](img/logo_vectorzero.jpg) https://www.vectorzero.io/
<h2>Step 1 - Create your map in RoadRunner:</h2>
* When you have become familiar with RoadRunner and You are sure which map you
want to make. You should keep in mind:
* Create map centered arround 0.0. This will help to work better in a future
with unreal and Opendrive.
* Just starting the map select Tools/TransformScene and aply a 180º rotation.
Currently the opendrive appear rotated 180. We are working on that.
* Check the all conections and geometries.
* Check the OpenDrive with button "OpenDrivePrevewTool".
* Start by becoming familiar with the RoadRunner editor. Play with the controllers to define roads, sidewalks, etc. Please, keep in mind the following rules:
* Create your maps centered arround (0,0). This is required to maintain compatibility with CARLA maps.
* At the beginning of the map creation select Tools/TransformScene and aply a 180º rotation.
Currently OpenDrive appears rotated 180 degrees by default --We are working on fixing that.
* Check that all conections and geometries seem correct.
* Visualize the OpenDrive road network by clicking on the "OpenDrivePrevewTool" button.
!!! note
While creating the map, Junctions (The union between two roads) Might give
some errors when building the OpenDrive File (clicking in
"OpenDrivePreviewTool" lets you test the validity of the current map). If
this happens you shoud click it with the "ManouverRoadsTool" and in the
details window, under junction, click the "RebuildManouverRoads" button.
During the creation of the map, junctions (the union between two roads) might yield
some errors when building the OpenDrive file. Clicking on the
"OpenDrivePreviewTool" button lets you test the integrity of the current map. If
errors happen you shoud click on the "ManouverRoadsTool" button and then within the
details window, under junction, click on the "RebuildManouverRoads" button.
Even if nothing seems to happen the road should be fixed.
<h3>Exporting:</h3>
After verifying that everything is correct. Export to Unreal. You need export 2
files to create a map in Unreal.
After verifying that everything is correct it is time to export the map to Unreal. You need export two files to create a map in Unreal.
OpendDrive (.xodr) Information that cars need to be able to circulate on the
* OpendDrive (.xodr) Information that cars need to circulate on the
map.
Binaries (.fbx) All meshes you need to build the map; Roads, lanemarking,
sidewalk, ect..
* Binaries (.fbx) All meshes you need to build the map, i.e., roads, lanemarking,
sidewalk, ect.
* Select File - Export - OpenDrive (.xodr)
In order to export these files you need to follow these steps:
1. Select File - Export - OpenDrive (.xodr)
* Select File - Export - Filmbox (.fbx)
* Choose your export folder and Keep Merge Roads, Merge Marking and Merge
Terrain _Unchecked_.
* Under Options Check "ExportToTiles" to divide the map into chunks, this keeps
the render a bit lighter; Be carefull though, subdividing the map too much
will also be inefficient. some experimentation is needed here to get the
perfect point and pretty much always will depend on the map beeing created.
the render process a bit lighter. Be carefull though, subdividing the map too much
will also be inefficient. Some experimentation is needed here to get the
perfect point and it will depend on the map beeing created.
* Leave "Export individual Tiles" _Unchecked_, this will give you only one fbx
file with all the pieces, much easier to keep track of it.
file with all the pieces, making easier to keep track of the map.
![Tutorial_RoadRunner](img/tutorial_roadrunner.jpg)
@ -58,115 +56,110 @@ sidewalk, ect..
<h2>Importing into Unreal:</h2>
* Start dragging your file from where it's saved to the "content browser" in
* Start dragging your file from where it is saved to the "content browser" in
your unreal's project as you would do with any other asset.
* In the Import window make sure the following options are _unchecked_:
ForcefrontXAxis, Autogenerate collission, combine meshes.
* Make sure that ConvertSceneUnit is _checked_.
* You should Also _check_ "Import Materials" and "Import Textures" if you want
to use the roadrunner materials or use the method described at the end of the
next step to change them in bunches.
to use RoadRunner materials or use the method described at the end of the
next step to change them in batches.
![Tutorial_Roadrunner_UE4](img/tutorial_roadrunner_ue4.jpg)
<h2>Working with the map in Unreal:</h2>
<h2>Working with maps in Unreal:</h2>
First of all create a level with the Map's Name (This will be Important later)
and save It inside Game/Carla/Maps/
First of all create a level with the Map name (this will be important later)
and save it inside Game/Carla/Maps/
Once everything is loaded up you should end with many staticMeshes in the folder
you've loaded the map into. You could drag them all to the level and you´ll have
your map in unreal. Depends on how many pieces you cut the map will load faster
or slower. All the pieces share the same center pivot, so if they are positioned
Once everything is loaded up you should end with several staticMeshes in the folder
you have selected. Drag them all to the level and you will have
your map in Unreal! Congratulations!.
The time taken by the loading process will depend on how many pieces you cut the map into. Be patient! All the pieces share the same center pivot, so if they are positioned
in the same place they should fit as they did in the RoadRunner Editor. When
unreal finish loading the meshes must be centered at point 0.0.0.
unreal finish loading the meshes must be centered at point (0, 0, 0).
![Transform_Map](img/transform.jpg)
<h3>Semantic Segmentation</h3>
<h3>Semantic Segmentation Ground Truth</h3>
Once with the correct map and materials, going to prepare the semantic
segmantation. For the semantic segmentation to work, you'll need to get the
different pieces of the level and save them in their corresponding folder. This
Once you have loaded the correct map and materials, we will prepare the semantic
segmantation ground truth. In order for the semantic segmentation to work, you will need to save the different pieces of the map in their corresponding folder. This
is a bit difficult today as with the current version there is no name
identification for the different pieces but this is a just temporal issue on
Roadrunner's part. The most probably you need only 3 Folders: ../Content/Static/
identification for the different pieces but this is a just temporal issue from
Roadrunner side. Typically you will need only 3 Folders: ../Content/Static/
1- Road, 2-Terrain, 3- RoadLines.
<h3>How to put meshes in a correct folder</h3>
<h3>How to put meshes in the right folder</h3>
Select the material of the items you want to change folder. (Importing the
assets creates a road material, a sidewalk material and so on)
Select the material of the items you want to change into a new folder. Importing the
assets creates a road material, a sidewalk material and so on.
1. Once selected Rightclick and select "Asset Actions/Select actors Using this
asset" All actors using that material should be highlighted in the viewport.
1. Once selected rightclick and select "Asset Actions/Select actors Using this
asset". All actors using that material should be highlighted in the viewport.
2. Rightclick on them in the world and select "Browse to asset" All assets
using the first material you´ve chosen should be selected in the Content
2. Rightclick on them in the world and select "Browse to asset". All assets
using the first material you have chosen should be selected in the Content
browser.
3. Move them all to the corresponding folder and repeat for each category until
every road asset is clasified.
Roadrunner roads come with premade materials, but for Carla's weather to work
properly you'll need to change the pavement materials to some of our own (Stored
under Carla/Static/GenericMaterials/WetPavement) either go changing the
materials one by one or you could remove the Roadrunner Materials.Triggering the
replace references window in which you can select and change the new material
Roadrunner roads come with premade materials, but for CARLA weather to work
properly you will need to change the pavement materials to some of our own (Stored
under Carla/Static/GenericMaterials/WetPavement). To this end you can change the
materials one by one or you could remove the Roadrunner materials. This action will trigger the replace references window in which you can select and change the new material
for the meshes the last one was referencing.
<h2>Step 3 - Loading OpenDrive into Carla.</h2>
<h2>Step 3 - Loading OpenDrive into CARLA</h2>
- In Roadrunner go into File/Export and choose OpenDrive(.xodr), In the Export
Window choose the save folder and name the file with the same name as the map
let everything else as default and Export.
- In RoadRunner go into File/Export and choose OpenDrive(.xodr). In the Export
window choose the save folder and name the file with the same name as the map. Let everything else with the default values and press export.
- Copy the .xodr file inside the Content/Carla/Maps/OpenDrive folder.
- Open Your Unreal's level, drag the OpenDriveActor inside the scene. This will
Read the level's name, search the Opendrive file with the same name and Load
- Open Your Unreal level and drag the OpenDriveActor inside the scene. This will
read the level name, search the Opendrive file with the same name and load
it.
- If everything went right you should have your Road information loaded into
- If everything goes right you should have your road information loaded into
your map. Congratulations!
!!! note
It is possible that the map that generates that of Opendrive, goes out
turned. Maybe you didn't rotate before in RoadRunner. You only select all
map import from RoadRunner and rotate Z:180.
It is possible that the map that Opendrive generates is rotated. Maybe you did not rotate it in RoadRunner when you told you so? If this happens you only need to select all
map import from RoadRunner and rotate Z: by 180 degrees.
<h2>Setting up the traffic based on OpenDrive:</h2>
!!! Note
the current version of carla needs a CarlaMapGenerator Spawned in order for
our vehicles to drive. This is already reported as a bug and will be fixed
as soon as posible. For the moment Create a CarlaMapGenerator away from your
city, never above or under it (Then this map would drive the vehicles too)
and build its navigation.
* You'll need to place points for the vehicles to spawn. The actor that sets the
spawn position of the vehicles is called VehicleSpawnPoint. Carla vehicles
the current version of CARLA needs a CarlaMapGenerator spawned in order to use the server autopilot functionality. From the current version it is also to drive all vehicles using the new client nvaigation stack. However, if you still want to use the server autopilot you will need to create a CarlaMapGenerator for your city --never above or under it.
* You will need to place points for the vehicles to spawn. The actor that sets the
spawn position of the vehicles is called VehicleSpawnPoint. CARLA vehicles
must overlap with one of the RoutePlanner's trigger box for them to be
directed, otherwise they would drive straight until they find an obstacle. We
suggest placing the spawners 2 to 3 meters avobe each trigger box, not much
higher as if the spawn is too high it is not able to measure if there is any
vehicle under it before spawn and they would end spawning on top of each
vehicle under it before spawning and they would end up spawning on top of each
other. Spawning the vehicles a few meters behind the trigger boxes would also
work but that is a bit trickier.
* Spawners must always be oriented as the road dictates (this must be done by
hand but we'll make some form of automation in the future)
* Spawners must always be oriented as the road dictates. This must be done by
hand but we will make some form of automation in the future.
* Traffic lights must be placed in every crossing in whitch vehicles might
conflict. theese are the childs of "TrafficLightBase" and are stored inside
Game/Carla/Static/TrafficSigns/Streetlights_01.
Again, remember this is just needed to use the server autopilot. We recommend to start using new the client driving stack provided from 0.9.2 version.
<h2>Working with BP_TrafficLight and BP_TrafficLightGroups:</h2>
* One trafficlight must be placed at every entrance that needs to be regulated
and one TrafficLightGroup must be placed in every crossing that has street
* One trafficlight must be placed at every entrance that needs regulation.
One TrafficLightGroup must be placed in every crossing that has street
lights. Adjust The triggerbox of each traffic light until it covers the roads
it must stop.
it affects.
* Once the actors of an Intersection are placed, open the corresponding group
and under TrafficLights store all TrafficLight actors involved.
@ -176,7 +169,7 @@ for the meshes the last one was referencing.
(GreenTime), the time it stays yellow (YellowTime), and the time it takes
between one trafficlight goes red and the next one goes green (ChangeTime).
* This last steps are not full-proof and will require a good amount of trial and
error from the user part. VehicleSpawner placement, Street light timing and
* These last steps are in an early stage and may require a some trial and
error from users. VehicleSpawner placement, Street light timing and
Traffic light StopperBoxes might need some tweaking and testing to fit
perfectly into the built city.