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hatem-darweesh / assuremappingtools

Desktop based tool for viewing, editing and saving road network maps for autonomous vehicle platforms such as Autoware.
GNU General Public License v3.0
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Generated Lanelet OSM map missing mandatary "turn_direction" tags. #45

Closed privvyledge closed 3 years ago

privvyledge commented 3 years ago

Thanks for this tool.

I exported an OSM file from "https://www.openstreetmap.org" and exported it to OpenDRIVE format using MATLAB drivingScenarioDesigner. I was able to load the OpenDRIVE map into "assuremappingtools" and saved it as a Lanelet2 OSM without errors. However, when validating and loading it into Autoware, I get the error "lanelet ** seems to be intersecting other lanelet, but does not have turn_direction tagging" as shown in "Autoware_validation_error.png".

Autoware_validation_error

What can I do to resolve this?

Thanks.

hatem-darweesh commented 3 years ago

Can you tell me more information, which version of Autoware, assure tool ? can you share the open drive map with me for testing ? also what happen when you load the converted lanelet2 using assure mapping tool ?

privvyledge commented 3 years ago

1. What version of Autoware and assuremappingtools were used?

Autoware: current master branch as of this date. Assuremappingtools: current master branch as of this date.

2. Can you share the OpenDRIVE map?

Yes, I can. Where should I send it to? Would you also like me to share the original open street map file downloaded from https://www.openstreetmap.org/?

3. What happened when you load the converted lanelet2 using assuremappingtools?

The generated lanelet2 map loaded in assuremappingtools without errors.

hatem-darweesh commented 3 years ago

Send it to hatem.darweesh@gmail.com both the OpenDRIVE and .osm I guess this Autoware validations issue. but I want to make sure.

privvyledge commented 3 years ago

I have sent them to your email.

hatem-darweesh commented 3 years ago

I was a bit busy recently, I will check the maps in the next couple of day.

hatem-darweesh commented 3 years ago

Hi, I checked the OpenDRIVE Map and the .osm you have send me. I could load and visualize the .osm map into autoware. This is the error I get from Autoware: [ERROR] [1616584171.084392186]: Could not find valid vertex for ear clipping triangulation. Triangulation result might be invalid

but as general rule, the OpenDRIVE map is not a valid autonomous driving map, connectivity between lanes doesn't exist. and there is no smooth transition between roads.

about direct conversion from open street map to lanelet2, there is no plan to do so. we will face lots of challenges as open street maps have many errors and missing lots of information , beside it is not accurate enough for autonomous driving

privvyledge commented 3 years ago
  1. What changes did you make in generating the Lanelet2 map to make it work?
  2. How did you load and visualize it in Autoware?
  3. How can you get the transforms from the map to the car?
  4. What method do you recommend to then create a good enough 3D map of real-life locations (whether in a lab or on the road).
hatem-darweesh commented 3 years ago

These questions are not related to this issue, please ask them on ros answers.