OpenDrive Parser for Mittlere Ring Maps

[tobiaskessler]

• bark parses xodr files into its own data structure

• This breaks for some of the new maps of the Mittlere Ring (which I cannot post here due to licensing limitations of the files)

• Steps to reproduce:

  • Load the map in the analysis script:
  • https://github.com/bark-simulator/bark/blob/6a96c41068561229becc9438b94430ac5367fd68/tools/debug/analyze_map.py
  • Use the python debugger to localize the issue in the parser
  • Does the parser "only" fail or does it produce a wrong result?

• Dod:

  • The visualizations in the analysis script "looks fine"
  • We can load each map in a unit test and drive an idm agent on some lanes. As eg. https://github.com/bark-simulator/bark/blob/6a96c41068561229becc9438b94430ac5367fd68/bark/world/tests/py_world_tests.py#L129

Additional resources:

• The commonroad xodr parser works with the maps: https://gitlab.lrz.de/tum-cps/commonroad-scenario-designer/-/blob/main/crdesigner/map_conversion/opendrive/opendrive_parser/parser.py