115 lines
5.9 KiB
Markdown
115 lines
5.9 KiB
Markdown
# Generate maps with OpenStreetMap
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OpenStreetMap is an open license map of the world developed by contributors. Sections of these map can be exported to a `.osm` file, the OpenSreetMap format, which is essentially an XML. CARLA can convert this file to OpenDRIVE format and ingest it as any other OpenDRIVE map using the [OpenDRIVE Standalone Mode](#adv_opendrive.md). The process is quite straightforward.
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* [__1- Obtain a map with OpenStreetMap__](#1-obtain-a-map-with-openstreetmap)
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* [__2- Convert to OpenDRIVE format__](#2-convert-to-opendrive-format)
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* [__3- Import into CARLA__](#3-import-into-carla)
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---
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## 1- Obtain a map with OpenStreetMap
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The first thing to do is use [OpenStreetMap](https://www.openstreetmap.org) to generate the file containing the map information.
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__1.1. Go to [openstreetmap.org](https://www.openstreetmap.org)__. If the map is not properly visualized, try changing the layer in the righ pannel.
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__1.2 Search for a desired location__ and zoom in to a specific area.
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!!! Warning
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Due to the Unreal Engine limitations, CARLA can ingest maps of a limited size (large cities like Paris push the limits of the engine). Additionally, the bigger the map, the longer the conversion to OpenDRIVE will take.
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__1.3.Click on `Export`__ in the upper left side of the window. The __Export__ pannel will open.
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__1.4. Click on `Manually select a different area`__ in the __Export__ pannel.
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__1.5. Select a custom area__ by dragging the corners of the square area in the viewport.
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__1.6. Click the `Export` button__ in the __Export__ pannel, and save the map information of the selected area as a `.osm` file.
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---
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## 2- Convert to OpenDRIVE format
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CARLA can read a the content in the `.osm` file generated with OpenStreetMap, and convert it to OpenDRIVE format so that it can be ingested as a CARLA map. This can be done using the following classes in the PythonAPI.
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* __[carla.Osm2Odr](python_api.md#carla.Osm2Odr)__ – The class that does the conversion. It takes the content of the `.osm` parsed as strind, and returns a string containing the resulting `.xodr`.
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* `osm_file` — The content of the initial `.osm` file parsed as string.
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* `settings` — A [carla.Osm2OdrSettings](python_api.md#carla.Osm2OdrSettings) object containing the settings to parameterize the conversion.
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* __[carla.Osm2OdrSettings](python_api.md#carla.Osm2OdrSettings)__ – Helper class that contains different parameters used during the conversion.
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* `use_offsets` *(default False)* — Determines whereas the map should be generated with an offset, thus moving the origin from the center according to that offset.
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* `offset_x` *(default 0.0)* — Offset in the X axis.
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* `offset_y` *(default 0.0)* — Offset in the Y axis.
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* `default_lane_width` *(default 4.0)* — Determines the width that lanes should have in the resulting XODR file.
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* `elevation_layer_height` *(default 0.0)* — Determines the height separating elements in different layers, used for overlapping elements. Read more on [layers](https://wiki.openstreetmap.org/wiki/Key:layer).
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The input and output of the conversion are not the `.osm` and `.xodr` files itself, but their content. For said reason, the code should be similar to the following.
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```
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# Read the .osm data
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f = open("path/to/osm/file", 'r')
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osm_data = f.read()
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f.close()
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# Define the desired settings. In this case, default values.
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settings = carla.Osm2OdrSettings()
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# Convert to .xodr
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xodr_data = carla.Osm2Odr.convert(osm_data, settings)
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# save opendrive file
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f = open("path/to/output/file", 'w')
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f.write(xodr_data)
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f.close()
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```
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The resulting file contains the road information in OpenDRIVE format.
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---
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## 3- Import into CARLA
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Finally, the OpenDRIVE file can be easily ingested in CARLA using the [OpenDRIVE Standalone Mode](#adv_opendrive.md).
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__a) Using your own script__ — Call for [`client.generate_opendrive_world()`](python_api.md#carla.Client.generate_opendrive_world) through the API. This will generate the new map, and block the simulation until it is ready.
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Use the [carla.OpendriveGenerationParameters](python_api.md#carla.OpendriveGenerationParameters) class to set the parameterization of the mesh generation.
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```
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vertex_distance = 2.0 # in meters
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max_road_length = 500.0 # in meters
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wall_height = 0.0 # in meters
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extra_width = 0.6 # in meters
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world = client.generate_opendrive_world(
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xodr_xml, carla.OpendriveGenerationParameters(
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vertex_distance=vertex_distance,
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max_road_length=max_road_length,
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wall_height=wall_height,
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additional_width=extra_width,
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smooth_junctions=True,
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enable_mesh_visibility=True))
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```
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!!! Note
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`wall_height = 0.0` is strongly recommended. OpenStreetMap defines lanes in opposing directions as different roads. If walls are generated, this result in wall overlapping and undesired collisions.
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__b) Using `config.py`__ — The script can load an OpenStreetMap file directly into CARLA using a new argument.
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```
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config.py --osm-file=/path/to/OSM/file
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```
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!!! Warning
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[client.generate_opendrive_world()](python_api.md#carla.Client.generate_opendrive_world) requires the __content of the OpenDRIVE file parsed as string__, and allows parameterization. On the contrary, __`config.py`__ script needs __the path to the `.xodr` file__ and always uses default parameters.
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Either way, the map should be ingested automatically in CARLA and the result should be similar to this.
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<div style="text-align: right"><i>Outcome of the CARLA map generation using OpenStreetMap.</i></div>
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---
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That is all there is to know about how to use OpenStreetMap to generate CARLA maps.
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For issues and doubts related with this topic can be posted in the CARLA forum.
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<div class="build-buttons">
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<p>
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<a href="https://forum.carla.org/" target="_blank" class="btn btn-neutral" title="Go to the CARLA forum">
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CARLA forum</a>
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</p>
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</div>
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