LaneMap geometry generated with errors when running RSS example against custom map

[ar4development]

Hi,

I'm trying to run manual_control_rss against my custom map that I have exported from OSM and imported to simulator using config.py script.

However what I'm getting is the error message saying:

[2021-03-12 14:22:03.561] [ad_map_access] [warning] LaneMap geometry generated with errors
[2021-03-12 14:22:03.561] [error] withinValidInputRange(::ad::map::point::Longitude)>> 1070.04 out of valid input range [-180, 180]
[2021-03-12 14:22:03.561] [error] withinValidInputRange(::ad::map::point::GeoPoint)>> GeoPoint(longitude:1070.04,latitude:205.332,altitude:0) has invalid member
[2021-03-12 14:22:03.561] [ad_map_access] [error] Cannot convert from Geo to ECEF: Input point invalid.
Traceback (most recent call last):
  File "manual_control_rss.py", line 878, in <module>
    main()
  File "manual_control_rss.py", line 870, in main
    game_loop(args)
  File "manual_control_rss.py", line 787, in game_loop
    world = World(client.get_world(), args)
  File "manual_control_rss.py", line 155, in __init__
    self.restart()
  File "manual_control_rss.py", line 227, in restart
    self.rss_sensor = RssSensor(self.player, self.world,
  File "/mnt/old/home/alexey/Downloads/CARLA_0.9.11_RSS/PythonAPI/examples/rss/rss_sensor.py", line 110, in __init__
    self.sensor.listen(self._on_rss_response)
ValueError: Cannot convert from Geo to ECEF: Input point invalid.
Segmentation fault (core dumped)

My env is:

• Carla 0.9.11_RSS
• Ubuntu 20.04
• Python 3.8.5

Is there anything I need to fix in my map or in example code?

Thanks!

[corkyw10]

@berndgassmann could you follow up on this please?

[berndgassmann]

Hi,
at least I was able to reproduce the issue. The problem with loading the map with the RSS sensor is related to the missing geo-reference within the open drive file. Also CARLA server output shows that issue:
"WARNING: cannot parse georeference: ''. Using default values."

When checking the xodr file written by the server at CarlaUE4/Content/Carla/Maps/OpenDrive/OpenDriveMap.xodr

....

one sees that the geo-reference tag is missing (see e.g. the CALRA built-in maps:)

which defines the projection and respective geoReference.
As a workaround for this I've just put the above geoReference tag into the stored file CarlaUE4/Content/Carla/Maps/OpenDrive/OpenDriveMap.xodr becoming:

    <geoReference><![CDATA[+proj=tmerc +lat_0=0 +lon_0=0 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs ]]></geoReference>
  </header>

Then, at least the RssSensor is starting up.

The question to raise is if that osm imported map is actually useful for running RSS.
If I load that map into QGIS with installed ad-map-access plugin the road layout looks not very well. Thing might work out at some of the "simple" intersection, but for sure not at the complex parts of the map, where the geometry could not have been reconstructed in a meaningful way.
To perform actual meaningful RSS evaluations, I'd suggest to make use of better map material.

Regards,
Bernd.

[berndgassmann]

sorry, but the editor was not actually lucky with the plain xml snippets, I had added to the comment:

Original stored OpenDriveMap.xodr

<?xml version="1.0" encoding="utf-8"?>
<OpenDRIVE>
    <header revMajor="1" revMinor="4" name="" version="1.00" date="Tue Mar 16 18:35:47 2021" north="893.91" south="0.00" east="2227.78" west="0.00">
    <road name="2-￐ﾹ ￐ﾜ￑ﾃ￑ﾀ￐ﾸ￐ﾽ￑ﾁ￐ﾺ￐ﾸ￐ﾹ ￐﾿￑ﾀ￐ﾾ￑ﾁ￐﾿￐ﾵ￐ﾺ￑ﾂ" length="1151.51017679" id="360" junction="-1">
        <link>

manually edited

<?xml version="1.0" encoding="utf-8"?>
<OpenDRIVE>
      <header revMajor="1" revMinor="4" name="" version="1.00" date="Tue Mar 16 18:35:47 2021" north="893.91" south="0.00" east="2227.78" west="0.00"

        <geoReference><![CDATA[+proj=tmerc +lat_0=0 +lon_0=0 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs ]]></geoReference>
      </header>
    <road name="2-￐ﾹ ￐ﾜ￑ﾃ￑ﾀ￐ﾸ￐ﾽ￑ﾁ￐ﾺ￐ﾸ￐ﾹ ￐﾿￑ﾀ￐ﾾ￑ﾁ￐﾿￐ﾵ￐ﾺ￑ﾂ" length="1151.51017679" id="360" junction="-1">
        <link>

[stale]

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[TigerStone93]

Is there any update on this problem?

I've encountered similar issue with a message

[warning] LaneMap geometry generated with errors
[info] ensureValid(::ad::physics::Distance)>> 10449777986291.096 value out of range

[berndgassmann]

Hi,

the warning itself that the geometry generated with errors it not necessarily preventing the map from being loaded, maybe only some smaller things. But that a distance in the map gets such a huge value could be a problem; it this is only at one special area in the map, it might also not affect the map to work in general.
Do you also get some errors where it stops working?

Did you try to load your OpenDrive map into the QGIS editor after adding the carla map plugin? If that's actually loading you can inspect the resulting map.

In case your map also has no georeference in the header as described in the original post above, then you might just have to add one as suggested above. I don't know if anyone worked on the topic to write the georeference into the open drive exporter in the meantime, if that's what your question pointed at.

[TigerStone93]

First, thank you for the fast response.

I've also found that the [warning] LaneMap geometry is not related with this shutdown problem.

I made my custom map by RoadRunner and import it into CARLA 0.9.13 to run the RSS through ScenarioRunner.

But my python code popped up an error at the self.sensor.listen(self._on_rss_response) line with the IndexError: Distance value out of range and failed to load scenario in the custom map.

Eventually, your solution that adding a <georeference> line in xodr file worked perfectly.

Thank you for your thoughtful help!

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.