search

lgsvl / simulator

A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
Other
2.27k stars 780 forks source link

HD Map Annotation Map Questions #1841

Open DestinyFrank opened 2 years ago

DestinyFrank commented 2 years ago

Hi, I am working on annotating a map I created for SVL. I will be adding sidewalks and crosswalks. In create modes, would classify those are CrossWalks or Pedestrian? Would I need to add both?

EricBoiseLGSVL commented 2 years ago

Crosswalks are for HDMap export. What AD stack do you plan on using? Pedestrian annotation objects are for simulator to have random pedestrians. Please add more detail on your issue so we can help.

DestinyFrank commented 2 years ago

We are creating simulations where our small vehicle drives on the sidewalks. We plan to export the HD map as Lanelet2 Map or OpenDriveMap. To drive on the sidewalk, would I also need to annotate it as a road, or will the sidewalk waypoints work? We plan to export the HD map as Lanelet2 Map or OpenDriveMap.

EricBoiseLGSVL commented 2 years ago

If you use Lanelet2 or OpenDrive, you will need to mark as a road but again, it depends on the AD stack. What will have control of the vehicle?

DestinyFrank commented 2 years ago

We will be using Autoware-Auto to control the vehicle.

EricBoiseLGSVL commented 2 years ago

Is the vehicle a robot? Have you looked into our robotics features in the latest release? This might be better for control.

DestinyFrank commented 2 years ago

It is a small delivery robot. What are the different features?

EricBoiseLGSVL commented 2 years ago

Well they use ROS to drive the robot and Unity has new articulated body physics to better simulate robotic joints. Please look at this post and see if it might be a better approach.

DestinyFrank commented 2 years ago

Hi @EricBoiseLGSVL, I'm unsure if that will work for what we need. I have tried to continue to Annotate the map we created using Unity's tools. However, I am having an issue with creating intersections. When I exported the map and viewed it, there seemed to be extra geometry. I do not know where this additional geometry is coming from, and I have also tried redoing the section but still had this error. Do you have any advice on areas that may be causing this problem? Capture_Map Capture_Map1

EricBoiseLGSVL commented 2 years ago

Well, I see that the maplane is not a child of the intersection. That will cause issues. What are you viewing the hd map with? Why are you making an intersection with one lane? Have you looked at CubeTown to see how to annotate intersections? This is hard to trouble shoot because it is such a hard angle. Have you also tried to smooth the edges and increase the lane size? If this is just one lane without stoplines, is it really an intersection? This is a simple stop sign intersection in CubeTown image