https://github.com/carla-simulator/carla
Tip revision: 4964a09413ed09c43396ff0ec31f29d49c772b6e authored by Xavi on 24 July 2019, 09:20:19 UTC
Change default pedestrian speed
Change default pedestrian speed
Tip revision: 4964a09
how_to_make_a_new_map.md
<h1>How to create and import a new map</h1>
## 1 Create a new map
Files needed:
* Binaries `.fbx` - All meshes you need to build the map, i.e., roads, lanemarking, sidewalk, ect.
* OpenDRIVE `.xodr` - Road network information that cars need to circulate on the map.
It is possible to modify an existing CARLA map, check out the [map customization][custommaplink]
tutorial.
[custommaplink]: /dev/map_customization
The following steps will introduce the RoadRunner software for map creation. If the map is
created by other software, go to this [section](#3-importing-into-unreal).
## 2 Create a new map with RoadRunner
RoadRunner is a powerful software from Vector Zero to create 3D scenes. Using RoadRunner is easy,
in a few steps you will be able to create an impressive scene. You can download
a trial of RoadRunner at VectorZero's web page.
<div class="vector-zero">
<a href="https://www.vectorzero.io/"><img src="/img/VectorZeroAndIcon.webp"/></a>
</div> <br>
Read VectorZero's RoadRunner [documentation][rr_docs] to install it and get started.
They also have very useful [tutorials][rr_tutorials] on how to use RoadRunner, check them out!
[rr_docs]: https://tracetransit.atlassian.net/wiki/spaces/VS/pages/740622413/Getting+Started
[rr_tutorials]: https://www.youtube.com/channel/UCAIXf4TT8zFbzcFdozuFEDg/playlists
!!! important
Create the map centered arround (0, 0).
## 2.1 Validate the map
* Check that all connections and geometries seem correct.
* Visualize the OpenDRIVE road network by clicking on the `OpenDRIVE Preview Tool`
button and export.
!!! note
The _OpenDrive Preview Tool_ button lets you test the integrity of the current map.
If there is any error with map junctions, click on `Maneuver Tool`
and `Rebuild Maneuver Roads` buttons.
!!! important
Apply a 180 degree rotation before exporting `Tools > Transform Scene ... > Rotation`
## 2.2 Export the map
After verifying that everything is correct, it is time to export the map to CARLA.
1. Export the scene using the CARLA option in the main menu:<br>
`File > Export > CARLA (.fbx + .xml + .xodr)`.
2. Leave `Export individual Tiles` _unchecked_, this will generate only one fbx
file with all the pieces making it easier to keep track of the map.
<br>
3. Click `Export`.
This will generate a `mapname.fbx` and `mapname.xodr` files within others.
_For a more in-depth guide on how to use the exportation option,_
_check VectorZeros's [documentation][exportlink]._
[exportlink]: https://tracetransit.atlassian.net/wiki/spaces/VS/pages/752779356/Exporting+to+CARLA
## 3 Importing into Unreal
This section is divided into two. The first part shows how to import a map from RoadRunner
and the second part shows how to import a map from other software that generates `.fbx` and `.xodr` files.
!!! important
The `.xodr` OpenDRIVE file should have the same name as the binary file `.fbx`
i.e. `mapname.fbx` `mapname.xodr`.
We have also created a new way to import assets into Unreal,
check this [`guide`](../asset_packages_for_dist/)!
### 3.1 Importing from RoadRunner
#### 3.1.1 Plugin Installation
RoadRunner provides a series of plugins that make the importing simpler.
1. Locate the plugins under RoadRunner's installation folder:<br>
`/usr/bin/VectorZero/Tools/Unreal/Plugins`.
2. Copy those folders to the CarlaUE4 plugins directory: `/carla/Unreal/CarlaUE4/Plugins/`.
3. Rebuild the plugin.
##### Rebuild on Windows
1. Generate project files.
* Right-click the `.uproject` file and `Generate Visual Studio project files`.
2. Open the project and build the plugins.
##### Rebuild on Linux
```sh
> UE4_ROOT/GenerateProjectFiles.sh -project="carla/Unreal/CarlaUE4/CarlaUE4.uproject" -game -engine
```
Finally, restart Unreal Engine and make sure the checkbox is on for both plugins `Edit > Plugins`.
#### 3.1.2 Importing
1. Import the _mapname.fbx_ file to a new folder under `/Content/Carla/Maps`
with the `Import` button.
<br>
2. Set `Scene > Hierarchy Type` to _Create One Blueprint Asset_ (selected by default).
3. Set `Static Meshes > Normal Import Method` to _Import Normals_.
<br>
4. Click `Import`.
5. Save the current level `File > Save Current As...` > _mapname_.
The new map should now appear next to the others in the Unreal Engine _Content Browser_.
And that's it! The map is ready!
### 3.2 Importing from the files
This is the generic way to import maps into Unreal.
1. Create a new level with the **Map** name in Unreal `Add New > Level` under `Content/Carla/Maps`.
2. Copy the Illumination folder and its content from the BaseMap `Content/Carla/Maps/BaseMap`
and paste it in the new level, otherwise, the map will be in the dark.
#### 3.2.1 Binaries (.fbx)
1. Import the _mapname.fbx_ file to a new folder under `/Content/Carla/Maps`
with the `Import` button. Make sure the following options are unchecked:
* Auto Generate Collision
* Combine Meshes
* Force Front xAxis
* Normal Import Method - _Import Normals_
<br>
2. Check the following options:
* Convert Scene Unit
* _If you want to import materials and textures:_
* Material Import Method - _Create new materials_
* Import Textures
<br>
Once everything is loaded up, you should end with several static Meshes in the folder
you have selected.
3. Drag them all into the level.
<br>
4. When Unreal Engine finishes loading, center the meshes at point (0, 0, 0) and you will have
your map in Unreal! Congratulations!
<br>
5. Generate collisions, so pedestrians and vehicles don't fall into the abyss.
* Select the meshes that will have collision.
* Right-click `Asset Actions > Bulk Edit via Property Matrix...`.
* Search for _collision_ in Property's Matrix search box.
* Change `Collision complexity` from `Project Default` to `Use Complex Collision As Simple`.
* Go to `File > Save All`.
6. Lastly, for the **semantic segmentation ground truth**, move the static meshes imported
under `Content/Carla/Maps/mapfolder` to `Carla/Static` subsequent folders:
* `Terrain/mapname`
* `Road/mapname`
* `RoadLines/mapname`
```sh
Content
└── Carla
├── Blueprints
├── Config
├── Exported Maps
├── HDMaps
├── Maps
└── Static
├── Terrain
│ └── mapname
│ └── Static Meshes
│
├── Road
│ └── mapname
│ └── Static Meshes
│
└── RoadLines
└── mapname
└── Static Meshes
```
#### 3.2.2 OpenDRIVE (.xodr)
1. Copy the `.xodr` file inside the `Content/Carla/Maps/OpenDrive` folder.
2. Open the Unreal level and drag the _Open Drive Actor_ inside the level.
It will read the level's name, search the Opendrive file with the same name and load it.
And that's it! Now the road network information is loaded into the map.
## 4. Setting up traffic behavior
Once everything is loaded into the level, it is time to create traffic behavior.
1. Click on the _Open Drive Actor_.
2. Check the following boxes in the same order:
* Add Spawners
* (Optional) On Intersections (For more spawn points)
* Generate Routes
This will generate a bunch of _RoutePlanner_ and _VehicleSpawnPoint_ actors that make
it possible for vehicles to spawn and go in autopilot mode.
## 4.1 Traffic lights and signs
To regulate the traffic, traffic lights and signs must be placed all over the map.
1. Drag _traffic light / sign actors_ into the level and place them.
2. Adjust the _[`trigger box`][triggerlink]_ of each traffic light / sign
until it covers the road it affects.
[triggerlink]: ../python_api/#carla.TrafficSign.trigger_volume
<br>
3. For traffic lights in junctions, drag a _traffic light group actor_ into the level and assign
all traffic lights involved.
These last steps may require some trial and error. _Traffic light timing_ and _traffic trigger boxes_
might need some tweaking and testing to fit perfectly into the city.
> _Example: Traffic Signs, Traffic lights and Turn based stop._
## 5 Adding pedestrian navigation zones
To make a navigable mesh for pedestrians, we use the _Recast & Detour_ library.<br>
<https://github.com/recastnavigation/recastnavigation>.
1. Clone or download _Recast & Detour_.
2. Before building RecastDemo you need to change `m_scale` variable from `1.0f` to `0.01f` in the
_MeshLoaderObj contructor_ in `RecastDemo/Source/MeshLoaderObj.cpp`.
```cpp
rcMeshLoaderObj::rcMeshLoaderObj() :
m_scale(0.01f),
m_verts(0),
m_tris(0),
m_normals(0),
m_vertCount(0),
m_triCount(0)
{
}
```
Then build RecastDemo. Follow their [instructions][buildrecastlink] on how to build it.
[buildrecastlink]: https://github.com/recastnavigation/recastnavigation#building-recastdemo
**Back to Unreal Engine**
1. Select the meshes you want the pedestrians to be able to spawn and walk on.
<br>
2. Export and save them as a `mapname.obj` file. `File > Export Selected...`.
3. Run RecastDemo `./RecastDemo`.
* Select `Solo Mesh` from the `Sample` parameter's box.
* Select the _mapname.obj_ file from the `Input Mesh` parameter's box.
<br>
4. First click on the `Build` button, then once the built has finished, click on the `Save` button.
5. Change the **filename** of the binary file generated at `RecastDemo/Bin` to `mapname.bin`.
6. Drag the _mapname.bin_ file into the `Nav` folder under `Content/Carla/Maps`.
Now pedestrians will be able to spawn randomly and walk on the selected meshes!
## Tips and Tricks
* Traffic light group controls wich traffic light is active (green state) at each moment.
You can configure the timing that the lights stay in green `GreenTime`, the time it stays yellow
`YellowTime`, and the time it takes between one traffic light goes red and the next one
goes green `ChangeTime`.
<div style="text-align:center"><img src="../img/ue_tl_group_times.png"/></div>
<br>
* You can add a vehicle spawn point. This should be placed 2 to 3 meters above a Route Planner's
trigger box and oriented as the route shows. When the vehicle falls, it will hit the trigger box
and the autopilot will take control of the vehicle.
* When you check `Generate Routes` in Open Drive Actor, it generates the road network but it won't
show individual planners. In order to show those points, please do the following:
1. Select all `RoutePlanner` actors.
2. Move them.
3. Press `ctr + z` and they will show up on the map.
* OpenDRIVE routes can be manually modified.
* In order to add the map to the Unreal packaging system, go to:<br>
`Edit > Project Settings > Project > Packaging > Show Advanced > List of maps to include...` <br>
Then add the level to the array.
* To change default materials and use the ones that come with CARLA at:<br>
`Content/Carla/Static/GenericMaterials`.
* Unreal shortcuts to find materials and assets:
* `Right-click on the Asset > Browse to Asset`
* `Right-click on the Material > Asset Actions > Select Actors Using This Asset`
