OpenDRIVE Map Generator

This is a generator for race tracks within the CARLA Simulator. It's not perfect yet, as curves are not connecting seemlessly to other track parts. Everything is implemented in accordance with the OpenDRIVE 1.6 standard.

To integrate this into the CARLA simulator, just copy everything into the CARLA main directory.

To start the simulator as server, just execute the StartSimulator.ps1 script with PowerShell.

Code

The code of the generator is located inside the "TrackGenerator" directory.

Documentation

Code documentation is not delivered by default, but can be compiled by executing "GenerateDocumentation.ps1" inside the "TrackGenerator" directory using PowerShell. This will create a directory called "GeneratedDocumentation" inside the "TrackGenerator" directory, containing the documentation for each code file in HTML format.

There is also a Linux version: Call "generateDocumentation.sh" in the same directory to generate documentation under Linux.

Generating streets

To generate a street with the OPENDrive API, import the API module with

import OpenDRIVE_API

After doing so, start and build your streets as follows:

OpenDRIVE_API.start_street()
OpenDRIVE_API.generate_line(0, -10, 0, 0, 30)
(...)
OpenDRIVE_API.end_street()

Make sure to start each street with OpenDRIVE_API.start_street() and end it with OpenDRIVE_API.end_street(), otherwise you will run into exceptions. Use the start method to set road parameters like lane width or road type.

Generating track polygons

Tracks are represented by irregular polygons with n corners. These can be generated using the TrackPolygonGenerator module. It can be either imported to be used by other Python modules or be called from the command line. Providing -h as parameter displays the help function. The dimensions of the polygon can be adjusted with the -x and -y parameter respectively, defining maximum width and height. The amount of corners can be defined with the -c parameter. Additionally, the generated polygon can be diplayed graphically by setting the -s flag.

Generating polygons from the command line does NOT save them anywhere. It merely provides a simple way to get a feeling for good values to use with the generator.

License Note:

Thie project is provided unter MIT license . See LICENSE file for additional information.

Setup

Required Software

CALRA simulator (min. version 0.9.10)
Python IDE of your choice (or vim, emacs, or whatever you like)
PowerShell (min. version 5.1) or PowerShell Core if you're a Linux user
- For Linux: "snap install powershell --classic"
- For Win 10: Pre-installed
Python 3.7 or higher

Required Hardware

Dedicated GPU with min. 4 GB of VRAM
64-bit OS
- Attention Linus-users: CARLA does not work with Linux version 16.04 when using default compilers -> Upgrade! Alternatively upgrade you Linux to 16.09 or higher.

Installation

Install CARLA
Checkout this project into the CARLA main directory (where the CarlaUE4.exe/CarlaUE4.sh is located). This projects integrates itself seamlessly into the CARLA structure.
Generate your documentation: Navigate into the "TrackGenerator" dir and execute "GenerateDocumentation.ps1" ("GenerateDocumentation.sh" if you're on Linux)
Done! You can now open the project within your Python IDE or execute it however you like.

TayYim/opendrive-generator