Sergi e/map create custom (#2675)
* First iteration * Minor fix * Iteration on Docker method * Deleted code line * new iteration with deprecated tutorials * fixed link * Iteration on X comments
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# How to create and import a new map
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---
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## 1 Create a new map
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# Create and import a map
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Files needed:
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* Binaries `.fbx` - All meshes you need to build the map, i.e., roads, lanemarking, sidewalk, ect.
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* OpenDRIVE `.xodr` - Road network information that cars need to circulate on the map.
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It is possible to modify an existing CARLA map, check out the [map customization](tuto_A_map_customization.md)
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tutorial.
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The following steps will introduce the RoadRunner software for map creation. If the map is
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created by other software, go to this [section](#3-importing-into-unreal).
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* [__Introduction__](#introduction)
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* [__Map creation with RoadRunner__](#map-creation-with-roadrunner)
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* [Export the map](#export-the-map)
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* [__Import a map into CARLA__](#import-a-map-into-carla)
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* [__Final tips__](#final-tips)
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* [__Previous ways to import a map__](#previous-ways-to-import-a-map)
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---
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## 2 Create a new map with RoadRunner
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## Introduction
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RoadRunner is a powerful software from Vector Zero to create 3D scenes. Using RoadRunner is easy,
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in a few steps you will be able to create an impressive scene. You can download
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a trial of RoadRunner at VectorZero's web page.
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In order to create a CARLA map, two elements are needed. This tutorial explains how to properly import them to CARLA.
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<div class="vector-zero">
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<a href="https://www.vectorzero.io/"><img src="../img/VectorZeroAndIcon.webp"/></a>
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</div> <br>
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* __`.fbx` binaries.__ The meshes needed to build the map, such as roads, lanemarkings, sidewalks, ect.
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* __`.xodr` OpenDRIVE file.__ Contains the road network information necessary for vehicles to navigate the map.
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Read VectorZero's RoadRunner [documentation][rr_docs] to install it and get started.
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In order to create them, RoadRunner is the recommended software. It is quite easy to use, and it provides plugins that make the import process much simpler. Some basic steps are provided below.
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They also have very useful [tutorials][rr_tutorials] on how to use RoadRunner, check them out!
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The process to import a map into CARLA is now out-of-the-box. A Docker image of Unreal Engine is used so that the user does not have neither to compile anything nor manually set the assets to fit into CARLA.
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!!! Note
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This tutorial creates a new map from scratch. Check these other tutorials to [customize a town](tuto_A_map_customization.md) or [import other assets](tuto_A_import_assets.md) to CARLA.
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---
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## Map creation with RoadRunner
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RoadRunner is an accessible and powerful software from Vector Zero to create 3D scenes. There is a trial version available at their [site](https://www.vectorzero.io/), and an [installation guide][rr_docs].
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[rr_docs]: https://tracetransit.atlassian.net/wiki/spaces/VS/pages/740622413/Getting+Started
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[rr_tutorials]: https://www.youtube.com/channel/UCAIXf4TT8zFbzcFdozuFEDg/playlists
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The process is quite straightforward, but there are some things to take into account.
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!!! important
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Create the map centered arround (0, 0).
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#### 2.1 Validate the map
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* Check that all connections and geometries seem correct.
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* Center the map in (0,0).
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* Create the map definition. Take a look at the [official tutorials](https://www.youtube.com/channel/UCAIXf4TT8zFbzcFdozuFEDg/playlists).
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* Check the map validation. Take a close look at all connections and geometries.
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* Visualize the OpenDRIVE road network by clicking on the `OpenDRIVE Preview Tool`
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button and export.
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Once the map is ready, click on the `OpenDRIVE Preview Tool` button to visualize the OpenDRIVE road network. Give one last check to everything. Once the map is exported, it cannot be modified.
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!!! note
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The _OpenDrive Preview Tool_ button lets you test the integrity of the current map.
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If there is any error with map junctions, click on `Maneuver Tool`
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and `Rebuild Maneuver Roads` buttons.
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_OpenDrive Preview Tool_ makes it easier to test the integrity of the map. If there is any error with junctions, click on `Maneuver Tool`, and `Rebuild Maneuver Roads`.
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#### 2.2 Export the map
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### Export the map
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After verifying that everything is correct, it is time to export the map to CARLA.
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__1. Export the scene using the CARLA option.__ `File/Export/CARLA(.fbx+.xml+.xodr)`
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1. Export the scene using the CARLA option in the main menu:<br>
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`File > Export > CARLA (.fbx + .xml + .xodr)`.
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__2. Leave `Export individual Tiles` unchecked.__ This will generate only one _.fbx_ with all the pieces. It makes easier to keep track of the map.
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2. Leave `Export individual Tiles` _unchecked_, this will generate only one fbx
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file with all the pieces making it easier to keep track of the map.
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__3. Click `Export`.__
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<br>
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3. Click `Export`.
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This will generate a `mapname.fbx` and `mapname.xodr` files within others.
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_For a more in-depth guide on how to use the exportation option,_
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_check VectorZeros's [documentation][exportlink]._
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This will generate a `mapname.fbx` and `mapname.xodr` files within others. There is more detailed information about how to export to CARLA in [VectorZero's documentation][exportlink].
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[exportlink]: https://tracetransit.atlassian.net/wiki/spaces/VS/pages/752779356/Exporting+to+CARLA
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!!! Warning
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Make sure that the .xodr and the .fbx files have the same name.
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---
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## 3 Importing into Unreal
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## Import a map into CARLA
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This section is divided into two. The first part shows how to import a map from RoadRunner
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and the second part shows how to import a map from other software that generates `.fbx` and `.xodr` files.
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This process will cook the map automatically from start to finish. Using only the .fbx and .xodr, the output will provide a fully usable CARLA map with traffic behaviour, and pedestrian navigation already implemented.
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!!! important
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The `.xodr` OpenDRIVE file should have the same name as the binary file `.fbx`
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i.e. `mapname.fbx` `mapname.xodr`.
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__1. Build a Docker image of Unreal Engine.__ Follow [these instructions](https://github.com/carla-simulator/carla/tree/master/Util/Docker). The process takes quite a lot of time and disk space. Around 4h and 400GB to build the Docker image. However, this is only needed the first time. Then, the process of importing a new map is out-of-the-box.
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We have also created a new way to import assets into Unreal,
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check this [`guide`](tuto_A_import_assets.md)!
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__2. Run the script to cook the map.__ In the folder `~/carla/Util/Docker` there is a script that connects with the Docker image previously created, and cooks the map automatically. It only needs the path for the input and output files.
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```sh
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python docker_tools.py --input ~/path_to_input_assets --output ~/path_for_output_assets
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```
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#### 3.1 Importing from RoadRunner
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__3. Move the output files__ to `Content/Carla/Maps` in case they are not already there.
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##### 3.1.1 Plugin Installation
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---
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## Final tips
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RoadRunner provides a series of plugins that make the importing simpler.
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* __Add and test traffic light timing.__ This are not set automatically, and will need trial and error to fit perfectly with the city.
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1. Locate the plugins under RoadRunner's installation folder:<br>
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`/usr/bin/VectorZero/Tools/Unreal/Plugins`.
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2. Copy those folders to the CarlaUE4 plugins directory: `/carla/Unreal/CarlaUE4/Plugins/`.
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> _Example: Traffic Signs, Traffic lights and Turn based stop._
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3. Rebuild the plugin.
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###### Rebuild on Windows
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* __Place vehicle spawn points__ 2 to 3 meters above a Route Planner's trigger box, and oriented in the same direction. When the vehicle falls into the trigger box, the autopilot takes control of it.
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1. Generate project files.
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* Right-click the `.uproject` file and `Generate Visual Studio project files`.
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* __Show individual route planners.__ `Generate Routes` in Open Drive Actor generates the road network but it does not show these. In order to do so, do the following.
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2. Open the project and build the plugins.
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1. Select all `RoutePlanner` actors.
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2. Move them.
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3. Press `ctr + z`. They will show up on the map.
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###### Rebuild on Linux
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* __Modify OpenDRIVE routes.__ This can be done manually.
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* __Add the map to the Unreal packaging system.__ Go to the following path and add the level.
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`Edit > Project Settings > Project > Packaging > Show Advanced > List of maps to include...` <br>
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* __Use CARLA materials__ contained in `Content/Carla/Static/GenericMaterials`.
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* Go to the material. `Right-click on the Asset > Browse to Asset`.
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* Set the actors. `Right-click on Material > Asset Actions > Select Actors Using This Asset`
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---
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## Previous ways to import a map
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There are other ways to import a map used in previous CARLA releases. These required to manually cook the map and prepare everything, so they became deprecated when the Docker method was developed. However, they are explained below in case they are needed.
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* __A) RoadRunner plugin import.__ This software provides specific plugins for CARLA. Get those and follow some simple steps to get the map.
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* __B) Manual import.__ This process requires to go through all the process manually. From importing _.fbx_ and _.xodr_ to setting the static meshes.
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<details>
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<summary><h4 style="display:inline">
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Deprecated tutorials to import a map
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</h4></summary>
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!!! Warning
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These importing tutorials are deprecated. The best way to import a map into CARLA is to use the Docker as explained above.
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## A- RoadRunner plugin import
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### Plugin installation
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These plugins will set everything ready to be used in CARLA. It makes the import process more simple.
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__1. Locate the plugins__ in RoadRunner's installation folder
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`/usr/bin/VectorZero/Tools/Unreal/Plugins`.
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__2. Copy those folders__ to the CarlaUE4 plugins directory `/carla/Unreal/CarlaUE4/Plugins/`.
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__3. Rebuild the plugin__ following the instructions below.
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* __a) Rebuild on Windows.__
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* Right-click the `.uproject` file and `Generate Visual Studio project files`.
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* Open the project and build the plugins.
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* __b) Rebuild on Linux.__
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* Run the following command.
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```sh
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> UE4_ROOT/GenerateProjectFiles.sh -project="carla/Unreal/CarlaUE4/CarlaUE4.uproject" -game -engine
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```
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Finally, restart Unreal Engine and make sure the checkbox is on for both plugins `Edit > Plugins`.
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__4. Restart Unreal Engine.__ Make sure the checkbox is on for both plugins `Edit > Plugins`.
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##### 3.1.2 Importing
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### Import map
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1. Import the _mapname.fbx_ file to a new folder under `/Content/Carla/Maps`
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with the `Import` button.
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__1. Import the _mapname.fbx_ file__ to a new folder under `/Content/Carla/Maps` with the `Import` button.
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<br>
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__2. Set `Scene > Hierarchy Type`__ to _Create One Blueprint Asset_ (selected by default).
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__3. Set `Static Meshes > Normal Import Method`__ to _Import Normals_.
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2. Set `Scene > Hierarchy Type` to _Create One Blueprint Asset_ (selected by default).
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3. Set `Static Meshes > Normal Import Method` to _Import Normals_.
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<br>
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4. Click `Import`.
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5. Save the current level `File > Save Current As...` > _mapname_.
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__4. Click `Import`.__
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__5. Save the current level__ `File > Save Current As...` > _mapname_.
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The new map should now appear next to the others in the Unreal Engine _Content Browser_.
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And that's it! The map is ready!
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---
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## B- Manual import from files
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#### 3.2 Importing from the files
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This is the generic way to import maps into Unreal Engine using any _.fbx_ and _.xodr_ files. As there is no plugin to ease the process, there are many settings to be done before the map is available in CARLA.
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This is the generic way to import maps into Unreal.
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1. Create a new level with the **Map** name in Unreal `Add New > Level` under `Content/Carla/Maps`.
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2. Copy the Illumination folder and its content from the BaseMap `Content/Carla/Maps/BaseMap`
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and paste it in the new level, otherwise, the map will be in the dark.
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__1. Create a new level__ with the **Map** name in Unreal `Add New > Level` under `Content/Carla/Maps`.
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__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.
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##### 3.2.1 Binaries (.fbx)
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### Import binaries
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1. Import the _mapname.fbx_ file to a new folder under `/Content/Carla/Maps`
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with the `Import` button. Make sure the following options are unchecked:
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__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.__
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* Auto Generate Collision
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* Combine Meshes
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* Force Front xAxis
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* Normal Import Method - _Import Normals_
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* Auto Generate Collision
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* Combine Meshes
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* Force Front xAxis
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* Normal Import Method - _To import normals_
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<br>
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__2. Check the following options.__
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2. Check the following options:
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* Convert Scene Unit
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* _To import materials and textures._
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* Material Import Method - _To create new materials_
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* Import Textures
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* Convert Scene Unit
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* _If you want to import materials and textures:_
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* Material Import Method - _Create new materials_
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* Import Textures
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__3. Check that the static meshes have appeared__ in the chosen folder.
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<br>
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__4. Drag the meshes__ into the level.
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Once everything is loaded up, you should end with several static Meshes in the folder
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you have selected.
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3. Drag them all into the level.
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__5. Center the meshes at point (0,0,0)__ when Unreal finishes loading.
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<br>
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__6. Generate collisions__. Otherwise, pedestrians and vehicles will fall into the abyss.
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4. When Unreal Engine finishes loading, center the meshes at point (0, 0, 0) and you will have
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your map in Unreal! Congratulations!
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* Select the meshes meant to have colliders.
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* Right-click `Asset Actions > Bulk Edit via Property Matrix...`.
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<br>
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* Search for _collision_ in Property's Matrix search box.
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* Change `Collision complexity` from `Project Default` to `Use Complex Collision As Simple`.
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5. Generate collisions, so pedestrians and vehicles don't fall into the abyss.
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* Select the meshes that will have collision.
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* Right-click `Asset Actions > Bulk Edit via Property Matrix...`.
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* Go to `File > Save All`.
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__7. Move the static meshes__ from `Content/Carla/Maps/mapfolder` to the corresponding `Carla/Static` subsequent folder. This will be meaningful for the semantic segmentation ground truth.
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* Search for _collision_ in Property's Matrix search box.
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* Change `Collision complexity` from `Project Default` to `Use Complex Collision As Simple`.
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* Go to `File > Save All`.
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6. Lastly, for the **semantic segmentation ground truth**, move the static meshes imported
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under `Content/Carla/Maps/mapfolder` to `Carla/Static` subsequent folders:
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* `Terrain/mapname`
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* `Road/mapname`
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* `RoadLines/mapname`
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* `Terrain/mapname`
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* `Road/mapname`
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* `RoadLines/mapname`
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```sh
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Content
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@ -234,149 +246,87 @@ Content
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│ └── mapname
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│ └── Static Meshes
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│
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└── RoadLines
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├── RoadLines
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| └── mapname
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| └── Static Meshes
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└── Sidewalks
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└── mapname
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└── Static Meshes
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```
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##### 3.2.2 OpenDRIVE (.xodr)
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### Import OpenDRIVE files
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1. Copy the `.xodr` file inside the `Content/Carla/Maps/OpenDrive` folder.
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2. Open the Unreal level and drag the _Open Drive Actor_ inside the level.
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It will read the level's name, search the Opendrive file with the same name and load it.
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__1. Copy the `.xodr` file__ inside the `Content/Carla/Maps/OpenDrive` folder.
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__2. Open the Unreal level.__ 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.
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And that's it! Now the road network information is loaded into the map.
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---
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## 4. Setting up traffic behavior
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## Set traffic behavior
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Once everything is loaded into the level, it is time to create traffic behavior.
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Once everything is loaded into the level, it is time to create traffic behavior.
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1. Click on the _Open Drive Actor_.
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2. Check the following boxes in the same order:
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* Add Spawners
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* (Optional) On Intersections (For more spawn points)
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* Generate Routes
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__1. Click on the _Open Drive Actor_.__
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__2. Check the following boxes in the same order.__
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This will generate a bunch of _RoutePlanner_ and _VehicleSpawnPoint_ actors that make
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it possible for vehicles to spawn and go in autopilot mode.
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* Add Spawners.
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* _(Optional for more spawn points)_ On Intersections.
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* Generate Routes.
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#### 4.1 Traffic lights and signs
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This will generate a series of _RoutePlanner_ and _VehicleSpawnPoint_ actors. These are used for vehicle spawning and navigation.
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To regulate the traffic, traffic lights and signs must be placed all over the map.
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### Traffic lights and signs
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1. Drag _traffic light / sign actors_ into the level and place them.
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Traffic lights and signs must be placed all over the map.
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2. Adjust the _[`trigger box`][triggerlink]_ of each traffic light / sign
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until it covers the road it affects.
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__1. Drag traffic light/sign actors__ into the level and place them.
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__2. Adjust the [`trigger volume`][triggerlink]__ for each of them. This will determine their area of influence.
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[triggerlink]: python_api.md#carla.TrafficSign.trigger_volume
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||||
|
||||
<br>
|
||||
__3. In junctions, drag a traffic light group actor__ into the level. Assign to it all the traffic lights involved and configure their timing. Make sure to understand [how do traffic lights work](http://127.0.0.1:8000/core_actors/#traffic-signs-and-traffic-lights).
|
||||
|
||||
3. For traffic lights in junctions, drag a _traffic light group actor_ into the level and assign
|
||||
all traffic lights involved.
|
||||
|
||||
|
||||
|
||||
|
||||
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.
|
||||
__4. Test traffic light timing and traffic trigger volumes.__ This may need trial and error to fit perfectly.
|
||||
|
||||
|
||||
|
||||
> _Example: Traffic Signs, Traffic lights and Turn based stop._
|
||||
|
||||
---
|
||||
## 5 Adding pedestrian navigation areas
|
||||
## Add pedestrian navigation
|
||||
|
||||
To make a navigable mesh for pedestrians, we use the _Recast & Detour_ library.<br>
|
||||
<https://github.com/recastnavigation/recastnavigation>.
|
||||
In order to prepare the map for pedestrian navigation, there are some settings to be done before exporting it.
|
||||
|
||||
1. Clone or download _Recast & Detour_.
|
||||
__1.__ Select the __Skybox object__ and add a tag `NoExport` to it. Otherwise, the map will not be exported, as the size would be too big.
|
||||
|
||||
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.
|
||||
__2.__ Check the name of the meshes. By default, pedestrians will be able to walk over sidewalks, crosswalks, and grass (with minor influence over the rest).
|
||||
|
||||
[buildrecastlink]: https://github.com/recastnavigation/recastnavigation#building-recastdemo
|
||||
|
||||
|
||||
**Back to Unreal Engine**
|
||||
__3.__ Crosswalks have to be manually created. For each of them, create a plane mesh that extends a bit over both sidewalks connected. __Place it overlapping the ground, and disable its physics and rendering__.
|
||||
|
||||
1. Select the meshes you want the pedestrians to be able to spawn and walk on.
|
||||
|
||||
|
||||
|
||||
__4.__ Name these planes following the common format `Road_Crosswalk_mapname`.
|
||||
|
||||
<br>
|
||||
__5.__ Press `G` to deselect everything, and export the map. `File > Export CARLA...`.
|
||||
__6.__ Run RecastDemo `./RecastDemo`.
|
||||
|
||||
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.
|
||||
* Select `Solo Mesh` from the `Sample` parameter's box.
|
||||
* Select the _mapname.obj_ file from the `Input Mesh` parameter's box.
|
||||
|
||||
|
||||
|
||||
__7.__ Click on the `Build` button.
|
||||
__8.__ Once the build has finished, click on the `Save` button.
|
||||
__9.__ Change the **filename** of the binary file generated at `RecastDemo/Bin` to `mapname.bin`.
|
||||
__10.__ Drag the _mapname.bin_ file into the `Nav` folder under `Content/Carla/Maps`.
|
||||
|
||||
<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>
|
||||
</details>
|
||||
<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.
|
||||
|
||||
|
||||
|
||||
* 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.
|
||||
|
||||
|
||||
* OpenDRIVE routes can be manually modified.
|
||||
|
||||
|
||||
|
||||
* 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.
|
||||
|
||||
|
||||
|
||||
* 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`
|
||||
|
|
@ -45,7 +45,7 @@ nav:
|
|||
- 'Control walker skeletons': "tuto_G_control_walker_skeletons.md"
|
||||
- Tutorials (assets):
|
||||
- 'Import new assets': 'tuto_A_import_assets.md'
|
||||
- 'Map creation': 'tuto_A_map_creation.md'
|
||||
- 'Create and import a map': 'tuto_A_map_creation.md'
|
||||
- 'Map customization': 'tuto_A_map_customization.md'
|
||||
- 'Standalone asset packages': 'tuto_A_standalone_packages.md'
|
||||
- "Use Epic's Automotive materials": 'tuto_A_epic_automotive_materials.md'
|
||||
|
|
|
|||
Loading…
Reference in New Issue