Use HDMAP directly from opendrive without Carla

[yuanhaorannnnnn]

Hello, I want to figure out how to use the hdmap exported from openstreet without Carla. I've chekced the code hd_map.py in map directory, and found it deeply binded with Carla. Now I have two questions:

1. How to read opendrive map data(.osm file) directly in Pylot. From my intuition it would be use fopen("map.osm"), but It must have someway else, right? Because I noticed the code open_drive_stream = erdos.IngestStream() in lincoln.py, it means it could use ERDOS to read the opendrive string data, I dont't know how to make driver sends data with IngestStream, hope someone could tell me the solution.
2. How to use the hdmap, if question one is solved, I can read the opendrive stream, for now I guess I need to parser the map from opendrive format to the plannnig and localization model's requirement. Would anyone inform me for this?

Thnaks for everyone here, I've worked on pylot for a while, I found it's a great project to explore and research the self-driving program, thanks again for any help.

[pschafhalter]

1. We haven't worked with real-world HD mapping much, but you could try reading the OpenDRIVE map data and sending the string on the IngestStream. This works for running a vehicle in small regions (e.g. CARLA scenarios); however, I could also imagine developing an HDMap operator which takes in the pose stream and sends out updated maps when the vehicle moves to a new section of the map.
2. I believe the planner and the localization module should automatically parse maps in the OpenDRIVE format. hd_map.py uses CARLA's map object to parse and interact with arbitrary OpenDRIVE maps, so the CARLA integration should not pose a problem.

[yuanhaorannnnnn]

1. We haven't worked with real-world HD mapping much, but you could try reading the OpenDRIVE map data and sending the string on the IngestStream. This works for running a vehicle in small regions (e.g. CARLA scenarios); however, I could also imagine developing an HDMap operator which takes in the pose stream and sends out updated maps when the vehicle moves to a new section of the map.
2. I believe the planner and the localization module should automatically parse maps in the OpenDRIVE format. hd_map.py uses CARLA's map object to parse and interact with arbitrary OpenDRIVE maps, so the CARLA integration should not pose a problem.

Thanks for your reply and I've been working on this, and now I need your help. In the lincoln.conf, this is a waypoint csv file item. I found my pipeline was stuck may because I didn't inject the waypoint file, but I dont know how to generate a file like this, so could you send me a hard copy of waypoint csv file?

[sukritkalra]

Thanks for your reply and I've been working on this, and now I need your help. In the lincoln.conf, this is a waypoint csv file item. I found my pipeline was stuck may because I didn't inject the waypoint file, but I dont know how to generate a file like this, so could you send me a hard copy of waypoint csv file?

Unfortunately, the CSV file of waypoints is dependent on the actual real-world route you want the vehicle to take, so sharing it would not really be helpful to running the vehicle. However, the CSV file is a simple list of (X, Y, Z) coordinates that you want the vehicle to follow, and you can look at how we parse such a file here. It should be pretty easy to generate such a file from the HD-Map.

[yuanhaorannnnnn]

Thanks for your reply and I've been working on this, and now I need your help. In the lincoln.conf, this is a waypoint csv file item. I found my pipeline was stuck may because I didn't inject the waypoint file, but I dont know how to generate a file like this, so could you send me a hard copy of waypoint csv file?

Unfortunately, the CSV file of waypoints is dependent on the actual real-world route you want the vehicle to take, so sharing it would not really be helpful to running the vehicle. However, the CSV file is a simple list of (X, Y, Z) coordinates that you want the vehicle to follow, and you can look at how we parse such a file here. It should be pretty easy to generate such a file from the HD-Map.

Thanks for your clear explanation, and now I can get some available waypoints data fro test.