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maliput / maliput_malidrive

Open-source ready OpenDrive backend for Maliput
BSD 3-Clause "New" or "Revised" License
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Need flag to disable loading of non-drivable lanes #78

Closed liangfok closed 3 years ago

liangfok commented 3 years ago

Malidrive 2.0 supports non-drivable lanes like curbs and sidewalks whereas Malidrive 1.0 does not. This results in road networks that vary substantially when switching from Malidrive 1.0 to 2.0. To ease this transition, let's add an "omit_nondrivable_lanes" flag that could be passed to Malidrive 2.0's builder. When this flag is set, the RoadNetwork created by Malidrive 2.0 would only have drivable lanes, and thus more closely match the road network provided by Malirive 1.0. This would facilitate the transition of downstream projects from Malidrive 1.0 to Malidrive 2.0.

liangfok commented 3 years ago

For example, in cloverleaf.xodr, Junction 167 includes sidewalks when loaded in Malidrive 2.0, which broke our downstream logic for detecting whether that junction is an on/off ramp.