Junctions in CARLA

[JakubBurczyk]

Hi, is there any way of controlling junctions?

When I load the xodr to CARLA with wider roads the junctions seem to be completly broken.

[johschmitz]

Currently the junction only supports simple two lane roads. Obviously, I have plans to generalize this but just haven't found any time and to be honest, really generalizing junctions will be a lot of work. Although quite interesting for sure. Maybe I can do at least a more general 90 degrees 4 way junction with some simple changes. I'm thinking about adding direct junctions first but still waiting for support in scenariogeneration and esmini. So unless you want to contribute stay tuned 😊

[JakubBurczyk]

Such a quick answer!
Welp I'll have to stick to 2 lane roads then. I'm currently working on bachelor's thesis and so far this is the simplest tool for OpenDrive, though OddLOT software by HLRS has an amazing feature of creating junctions simply by road intersection.

[johschmitz]

@JakubBurczyk I would like to add such an automatic junction creation feature in the future. I think Roadrunner also has one. Just don't know at what point I'll start working on it. I guess at least for the crossing of two straight line roads it shouldn't be too difficult mathematically but still lots of work. Does the tool in OddLOT work with arbitrary combinations of road geometries?

[JakubBurczyk]

Appears to handle 3 and even 4 road crossing decently.

[johschmitz]

@JakubBurczyk aah that is nice and good to know but my question was/is can it create a crossing for let's say an arc with a straight road or a clothoid with an arc or any combination of different shapes? And I mean the combinations of incoming roads, not the connecting roads inside the junction.
Also T crossings for any combination. Stuff like that.

[JakubBurczyk]

I've got no idea how to add curved roads as in your plugin but it handles circle roads and T junctions as well:

[johschmitz]

@JakubBurczyk thank you for the input. I have also downloaded the tool to play with it. It seems to have a slightly different philosophy compared to what I am trying to implement. Really interesting, some tools are very nice to use but other things are not very intuitive. So far I also didn't find any usage tutorials.

[kargarisaac]

@JakubBurczyk
nice figures. Do you use the same blender add-one? I try to generate the same nice junctions but cannot. I also don't see the GUI you showed here for opendrive visualization.

[JakubBurczyk]

@kargarisaac These were generated using OddLOT software by HLRS, here are some materials if you want to try it out. There is one little detail, when you want to use it for CARLA xodr standalone mode, you will have to create new file go to file>settings>export settings and change ID format to numerical

https://www.hlrs.de/solutions-services/service-portfolio/visualization/driving-simulator/oddlot/
https://github.com/hlrs-vis/covise#windows
https://fs.hlrs.de/projects/covise/support/download/

[kargarisaac]

Thank you for the quick answer. I tried to install OddLot both on the main system and docker. Maybe this is the problem with ubuntu. I have to try a virtual machine.