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usdot-fhwa-stol / carma-platform

CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication. Doxygen Source Code Documentation :
https://usdot-fhwa-stol.github.io/documentation/carma-platform/
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opendrive2lanelet2 converter outputs infinite lat and lon values #782

Open afrye51 opened 4 years ago

afrye51 commented 4 years ago

Types of Issue

Descriptive summary

The McLean Loop map contains some input values that are massive e.g. d="-2.1068353391156073e+29", d="3.4288925636211635e+22", which cause some latitude and longitude values in the output osm map to be infinite.

Line in input xodr file: <width sOffset="7.6134017368829721e+0" a="3.5053054354749080e+0" b="-5.1937501023948604e-3" c="7.0171713077402906e+13" d="-2.1068353391156073e+29"/>

Expected behavior

The output lat and lon should be bounded values, and the file should open in josm without errors.

Possibly: Converter performs one of the following as a method of resolving this issue

  1. exception at conversion time
  2. populates with a reasonable default value and logs a warning

Software version this applies to

Develop after 3.3.0 release on opendrive2lanelet2 repo https://github.com/usdot-fhwa-stol/opendrive2lanelet/commit/70a99fcfc4759ef9092375237f6bf693ce00e406

Actual behavior

The osm output file contains infinite lat and lon values: <node id="3701017" lat="inf" lon="inf" version="1" visible="true">

which causes an error when opening the file in josm: image

Steps to reproduce the behavior

Follow steps here https://github.com/usdot-fhwa-stol/opendrive2lanelet#opendrive2lanelet2convertor-usage for the McLean loop XODR file.

Then try to open the converted file in josm.

Related work

Link to related tickets or prior related work here.

msmcconnell commented 3 years ago

Fix in above PR is a partial fix to allow maps to be loaded, but manual correction is still required. Need to verify if this is still an issue.