Configuring Custom Map Issues

[p2256]

Hi there,

I am creating a map of a test track, and I am running into some issues regarding setting up of the map in unity project.

My current work flow is as follows:

1. Created the map in Mathwork's "RoadRunner" and exporting it as a "Unity (.fbx, .xodr, .rrdata.xml)"
2. Open the Shinjuku example map given in the quick setup guide
3. Delete all objects pertaining to the Shinjuku map, replace with RoadRunner .fbx
4. Add Mesh Collider Physics Component to the roads and terrain. (See photo below)

5. Reposition the camera and ego vehicle to roughly where they are need to be for testing purposes.

Here is a screenshot of the console output, as there are repeating errors. Additionally the SV slides around on top of the map, even though autoware is not open and no input is given.

I am reaching out asking for help in configuration of the map, if anyone has any advice on configuring of the map correctly to resolve these errors, please let me know.

I found map creation documentation for AWSIM-Labs, but I am having a harder time for AWSIM 2.0.0.

Any help regarding this would be much appreciated!

Thanks!
-Cole

[leonidaas]

I am trying to figure it out too at the moment.

Have you set everything in the AutowareSimulatiomDemo to your newly added files (like in the screenshot)?

[p2256]

@leonidaas

I have not tried this yet. I will try now and let you know what changes.

Thanks!

[p2256]

@leonidaas

Due to me reusing the setup for the Shinjuku Map, the script was already in place.

After following the AWSIM Labs documentation, I made some progress. My prefab map is now sensor compatible, and I can see the lidar output hitting the ground. I used this to configure:

https://autowarefoundation.github.io/AWSIM-Labs/main/Components/Sensors/LiDARSensor/RGLUnityPlugin/#scenemanager

[xmfcx]

@mackierx111 friendly ping

[p2256]

I found a little more information based on the error.

It seems that not having traffic simulator set in the functions on AutowreSimulationDemo creates this error. However I cannot select a script for give this function an object. I confirmed that the script that supposed to be there exist, seen in the project folder directory in the screenshot.

I confirmed that the ros2 messages are being published, but due to the (error seen below) The UI and camera following is not working as intended.

Ros2 output:

Please let me know if there is anything I can do to fix this!

Thanks,
Cole

[leonidaas]

@p2256 Hey Cole, may I ask you how you setup the TrafficLines? I have trouble matching the coordinates from my PointCloud, Lanelet_Map and the coordinates in AWSIM

[mackierx111]

@p2256
AutowareSimulationDemo class is, as its name suggests, a class created for demo scenes. Therefore, i recommend creating such scene classes according to the simulation you want to perform. AWSIM has this specification to ensure scalability.
If you use AutowareSimulationDemo.cs as is, you will need to fill in all the necessary reference items in the inspector.
If you are not using random traffic, it may be quicker to create a class copied from AutowareSimulationDemo.cs and comment out the TrafficSimulator section.

[mackierx111]

@leonidaas
We are currently writing documentation for users to set up the Awsim.Usecase.TrafficSimualtion function (including TrafficLane). It will be released in the near future.

[p2256]

@p2256 Hey Cole, may I ask you how you setup the TrafficLines? I have trouble matching the coordinates from my PointCloud, Lanelet_Map and the coordinates in AWSIM

@leonidaas

I was able to import the lanelet2 map with MGRS coordinates, but it is not positioned correctly. I can see it when I double click the object, but it is rotated and not translated correctly.

To get the ray casting, I followed this documentation: https://autowarefoundation.github.io/AWSIM-Labs/main/Components/Sensors/LiDARSensor/RGLUnityPlugin/

After doing that it showed the yellow scattering on the ground and traffic lights with mesh colliders.

Hope this helps!

[p2256]

@p2256 AutowareSimulationDemo class is, as its name suggests, a class created for demo scenes. Therefore, i recommend creating such scene classes according to the simulation you want to perform. AWSIM has this specification to ensure scalability. If you use AutowareSimulationDemo.cs as is, you will need to fill in all the necessary reference items in the inspector. If you are not using random traffic, it may be quicker to create a class copied from AutowareSimulationDemo.cs and comment out the TrafficSimulator section.

Per this recommendation, I commented out everything regarding TrafficSimulation and recompiled. I believe this fixed the error regarding the the UI not working correctly. The screenshot below is now the output after running:

Additionally these are the errors after, which I believe are from the incorrect setup of my GNSS sensor. I am going to explore that next.

Thank you @mackierx111 and @xmfcx for your support. It is greatly appreciated...

Thanks,
-Cole

[p2256]

One of my coworkers was able to figure out a way to clear the aforementioned errors regarding traffic simulator and the gnss sensor error. The components were not added after import, and were missing inside unity. After adding the scripts into Unity as components, and assigning them to the respective places, the errors went away.

This is my first time ever using Unity, and this was not obvious to me. I thought I had to assign the scripts directly, not as components.

[leonidaas]

@p2256 Hey Cole, may I ask you how you setup the TrafficLines? I have trouble matching the coordinates from my PointCloud, Lanelet_Map and the coordinates in AWSIM

@leonidaas

I was able to import the lanelet2 map with MGRS coordinates, but it is not positioned correctly. I can see it when I double click the object, but it is rotated and not translated correctly.

To get the ray casting, I followed this documentation: https://autowarefoundation.github.io/AWSIM-Labs/main/Components/Sensors/LiDARSensor/RGLUnityPlugin/

After doing that it showed the yellow scattering on the ground and traffic lights with mesh colliders.

Hope this helps!

Yeah, I managed to do the same thing. I have the correct coordinates from my pointcloud, added the Lanelets with VectorMapBuilder with the coordinates relative to the MGRS zone origin. But when I add it to Unity and update the "Geo" GameObject, it doesn't match with my Environment.

How are you using Autoware and AWSIM if the Lanes are not quite matching with the virtual environment?

[leonidaas]

After analyzing the code, I discovered that there must be exactly one "Geo" GameObject for the coordinate calculations to work correctly. Additionally, the correct MGRS coordinates need to be set before importing the lanelets, since all calculations are based on those values.

With this setup, the map is now closer to my terrain, but it’s still not fully aligned. I’m still unsure which MGRS coordinate should serve as the reference point.

[p2256]

After analyzing the code, I discovered that there must be exactly one "Geo" GameObject for the coordinate calculations to work correctly. Additionally, the correct MGRS coordinates need to be set before importing the lanelets, since all calculations are based on those values.

With this setup, the map is now closer to my terrain, but it’s still not fully aligned. I’m still unsure which MGRS coordinate should serve as the reference point.

@leonidaas

I am running into the same issue. I created a script that converts my lanelet2 map that is used for rviz, and adds MGRS coordinates, elev, etc (there is a python package that helps this). Also adding the component "Mgrs Position (Script)" to my environment allows my lanelet2 map with mgrs to be imported. But as it can be seen below, there seems to be a scaling issue.

The lanelet2 map overruns the lengths of the road, and does not align with the map.

The prefab was created in Mathworks RoadRunner, and cross referenced with RTL GPS data. I have confirmed that the object was created to size and position correctly.

If there is any information regarding what is wrong with my process. Please reach out.

Maybe @mackierx111 could support?

Thanks!
Cole

[leonidaas]

@p2256 Is the car also sliding on top of your terrain?
I've added everything exactly as you did but after running the simulation the car just slides sideways on my roads. Did you add any other physics or did you configure some values for the car?