maliput_xodr

OpenDRIVE resources for internal testing

Map Templates

Templatized XODR files are provided for XODR description customizing.

The files are generated using the options selected via environment variable.

This is achieved using empy tool. For installing it, and other dependencies:

pip install -r requirements.txt

Straight Road

Description:

• Variable-length road (e.g 200m).
• Two lanes with opposite direction.
• Optional:
  • A crosswalk in the middle
  • Stop lines before the crosswalk.

Options:

• LENGTH: Length of the road(default=500m).
• WIDTH: Width of the lanes(default=3m).
• CROSSWALK: Adds a 2m-width crosswalk in the middle(s=LENGTH/2.).(default=False)
• CROSSWALK_LENGTH: Length of the crosswalk.(default=2m)
• STOPLINE: Adds stop lines before the crosswalk intersection .(default=False)
• STOPLINE_DISTANCE: Distance from stop line to crosswalk. (default=7m)
• X_OFFSET: X offset with respect to the origin.
• Y_OFFSET: Y offset with respect to the origin.

For generating a XODR file by using this template simply execute:

CROSSWALK=True WIDTH=4 empy3 templates/straight_road.xml.em > generated_file.xodr

CROSSWALK=True STOPLINE=True LENGTH=200 WIDTH=4 empy3 templates/straight_road.xml.em > generated_file.xodr

Intersection

Description:

• 4 road intersection.

Options:

• WIDTH: Width of the lanes(default 3m).
• RADIUS: Radius of the junction's border(default 8m).
• CROSSWALK: Adds a crosswalk in each of the four sides of the intersection.(default=False)
• CROSSWALK_LENGTH: Length of the crosswalk to be added if enabled.(default 2m)
• STOPLINE: Indicates if stoplines are generated(for east west directions only)(it only affects geoJSON info).(default=False)
• EXTENSIONS_LENGTH: Indicates the length of the lead-in and lead-out roads(default 100m).
• X_OFFSET: X offset with respect to the origin.
• Y_OFFSET: Y offset with respect to the origin.

For generating a XODR file by using this template simply execute:

WIDTH=4 RADIUS=8 CROSSWALK=True CROSSWALK_LENGTH=2 empy3 templates/intersection.xml.em > generated_file.xodr

T-Intersection

Description:

• 3 road intersection

Options:

• WIDTH: Width of the lanes(default 3.3m).
• RADIUS: Radius of the junction's border(default 6m).
• EXTENSIONS_LENGTH: Indicates the length of the lead-in and lead-out roads(default 50m).
• X_OFFSET: X offset with respect to the origin.
• Y_OFFSET: Y offset with respect to the origin.

For generating a XODR file by using this template simply execute:

WIDTH=3.3 RADIUS=6 empy3 templates/t_intersection.xml.em > generated_file.xodr

Curved Road

Description:

• 2 curved non-connected roads

Options:

• WIDTH: Width of the lanes(default 3.5m).
• RADIUS: Radius of the curved section(default 12m).
• LENGTH_STRAIGHT: Length of the straight section(default 20m).
• GAP: Distance between roads(default 1m).
• X_OFFSET: X offset with respect to the origin.
• Y_OFFSET: Y offset with respect to the origin.

LENGTH_STRAIGHT=25 RADIUS=15 GAP=5 empy3 templates/curved_road.xml.em > generated_file.xodr

Curved Connected Roads

Description:

• 2 curved roads connected by a straight road.

Options:

• WIDTH: Width of the lanes(default 3.5m).
• RADIUS: Radius of the curved section(default 12m).
• EXIT_ROAD_LENGTH: Indicates the length of the straight section of the streets of the extremes(default 300m).
• MIDDLE_ROAD_LENGTH: Indicates the length of the straight middle road(default 300m).
• X_OFFSET: X offset with respect to the origin.
• Y_OFFSET: Y offset with respect to the origin.

EXIT_ROAD_LENGTH=20 MIDDLE_ROAD_LENGTH=20 RADIUS=12 empy3 templates/curved_connected_roads.xml.em > generated_file.xodr

Dedicated turn lane going South

Description:

• Represents a T intersection with lanes going South to North, North to South, and West to North.
• At the junction, the middle lane of the North-South road has a right turn to incorporate into the East to West corridor.
• A stop line is added in the West side of the West-East corridor.

Options:

• WIDTH: Width of the lanes (default 3.3m).
• RADIUS: Radius of the curved section (default 6m).
• STOPLINE: A boolean indicating whether to add the GeoJson stoplines (default True).
• X_OFFSET: X offset with respect to the origin (default 0m).
• Y_OFFSET: Y offset with respect to the origin (default 0m).
• EXTENSIONS_LENGTH: Indicates the length of the lead-in and lead-out roads(default 100m).

WIDTH=3.3 STOPLINE=True RADIUS=6.0 empy3 templates/dedicated_southbound_right_turn_lane.xml.em > generated_file.xodr

Resources

Example files with different values are provided under the resources folder.

Standalone maps

Standalone maps that do not correspond to a particular template are added in the standalone folder.

• 12_map_integration map: A large-combined map was created out of the available resources. See 12_map_integration/README for more information about the map creation process.