maliput_derive_lane_s_routes application

Get possible Routes

maliput_derive_lane_s_routes application builds a maliput::api::RoadGeometry and returns a set of maliput::api::LaneSRoute objects that go from the start waypoint to end one. The backends that can be selected to build the RoadGeometry are maliput_malidrive, maliput_multilane and maliput_dragway.

Routing alghorithm's parameters

The application provides two ways of setting up the routing process:

• Using a configuration file: --config_file flag should be used and pass a yaml file path that contains:

  # -*- yaml -*-
  ---
  # If using malidrive backend:
  xodr_file: TShapeRoad.xodr
  # If using multilane backend:
  yaml_file: 2x2_intersection.yaml
   
  max_length: 100
  waypoints:
    - [0.0, -2.0, 0]
    - [47.5, -49., 0]

• Using the flags:

  --start_waypoint="{0.0, -2.0, 0}"
  --end_waypoint="{47.5, -49, 0}"
  --max_length=100
  # For malidrive backend
  --xodr_file_path=TShapeRoad.xodr
  # For multilane backend
  --yaml_file: 2x2_intersection.yaml

Note: The configuration file method will be prioritized when flags are mixed up.

Waypoints and max_length properties:

• start_waypoint: Intertial position coordinate that indicates the start point of the routing process.
• end_waypoint: Intertial position coordinate that indicates the start point of the routing process.
• max_length: The maximum length of the intermediate lanes between start and end waypoints.

Maliput backends' flags:

Depending on the maliput backend that is selected different flags related to the RoadGeometry building process will be active.

• maliput_malidrive backend: See MALIDRIVE_PROPERTIES_FLAGS().
• maliput_multilane backend: See MULTILANE_PROPERTIES_FLAGS().
• maliput_dragway backend: See DRAGWAY_PROPERTIES_FLAGS().

Note: This application consumes methods that are publicly provided by maliput package to generate the routes, please refer to maliput::routing::DeriveLaneSRoutes() for further information if needed.

A description of all the available flags can be seen by running maliput_derive_lane_s_routes --help.

Using maliput_malidrive backend

$ maliput_derive_lane_s_routes --maliput_backend=malidrive --xodr_file_path=TShapeRoad.xodr --max_length=100 --start_waypoint="{0.0, -2.0, 0.0}" --end_waypoint="{47.5, -49.0, 0.0}"

or

$ maliput_derive_lane_s_routes --maliput_backend=malidrive --config_file=<path_to_config_yaml_file>

with the configuration YAML file being:

# -*- yaml -*-
---
xodr_file: TShapeRoad.xodr
max_length: 100
waypoints:
  - [0.0, -2.0, 0.0]
  - [47.5, -49., 0.0]

Output:

[INFO] Configuration loaded from flags as configuration file flag isn't used.
[INFO] Max length: 15
[INFO] Waypoints:
[INFO]   - {0, -2, 0}
[INFO]   - {47.5, -49, 0}
[INFO] Loading road network using malidrive backend implementation...
[INFO] xodr file path: TShapeRoad.xodr
[INFO] RoadNetwork loaded successfully.
[INFO] Start RoadPosition:
[INFO]   - Lane: 0_0_-1
[INFO]   - s,r,h: (0, -0.25, 0)
[INFO] End RoadPosition:
[INFO]   - Lane: 2_0_1
[INFO]   - s,r,h: (1, 0.75, 0)
[INFO] Number of routes: 1
Route 1 of 1:
- Lane: 0_0_-1
- Lane: 9_0_-1
- Lane: 2_0_1
  SRange: [45.99999999999975, 0.9999999999998996]

Using maliput_multilane backend

Similarly, maliput_multilane can be used.

$ maliput_derive_lane_s_routes --maliput_backend=multilane --yaml_file=2x2_intersection.yaml --max_length=100 --start_waypoint="{-50.0, -2.0, 0.0}" --end_waypoint="{50.0, -2.0, 0.0}"

or

maliput_derive_lane_s_routes --maliput_backend=malidrive --config_file=<path_to_config_yaml_file>

with the configuration YAML file being:

# -*- yaml -*-
---
yaml_file: 2x2_intersection.yaml
max_length: 100
waypoints:
  - [-50.0, -2.0, 0.0]
  - [50.0, -2.0, 0.0]

Output:

[INFO] Configuration loaded from flags as configuration file flag isn't used.
[INFO] Max length: 100
[INFO] Waypoints:
[INFO]   - {-50, -2, 0}
[INFO]   - {50, -2, 0}
[INFO] Loading road network using multilane backend implementation...
[INFO] yaml file path: 2x2_intersection.yaml
[INFO] RoadNetwork loaded successfully.
[INFO] Start RoadPosition:
[INFO]   - Lane: l:w_segment_0
[INFO]   - s,r,h: (9.375, -0.125, 0)
[INFO] End RoadPosition:
[INFO]   - Lane: l:e_segment_0
[INFO]   - s,r,h: (40.625, -0.125, 0)
[INFO] Number of routes: 1
Route 1 of 1:
- Lane: l:w_segment_0
  SRange: [9.375, 50]
- Lane: l:ew_intersection_segment_0
- SRange: [0, 40.625]
  Lane: l:e_segment_0

Using maliput_dragway backend

Similarly, maliput_dragway can be used. Have in mind that maliput_dragway backend doesn't support having multiples segments or branch points so it is expected that if the waypoints are located at different then lanes there won't be a possible route that connect them.

$ maliput_derive_lane_s_routes --maliput_backend=dragway -num_lanes=2 --length=50  --max_length=100 --start_waypoint="{0.0, 0.0, 0.0}" --end_waypoint="{25.0, 1.0, 0.0}"

or

maliput_derive_lane_s_routes --maliput_backend=malidrive --config_file=<path_to_config_yaml_file>

with the configuration YAML file being:

# -*- yaml -*-
---
max_length: 100
waypoints:
  - [0.0, 0.0, 0.0]
  - [25.0, 1.0, 0.0]

Output:

[INFO] Configuration loaded from flags as configuration file flag isn't used.
[INFO] Max length: 100
[INFO] Waypoints:
[INFO]   - {0, 0, 0}
[INFO]   - {25, 1, 0}
[INFO] Loading road network using dragway backend implementation...
[INFO] RoadNetwork loaded successfully.
[INFO] Start RoadPosition:
[INFO]   - Lane: Dragway_Lane_0
[INFO]   - s,r,h: (0, 1.85, 0)
[INFO] End RoadPosition:
[INFO]   - Lane: Dragway_Lane_1
[INFO]   - s,r,h: (25, -0.85, 0)
[INFO] Number of routes: 0
[ERROR] No routes found.

More available options

As mentioned before, maliput_derive_lane_s_routes application has several arguments that can be used. All of them can be accessed by running maliput_derive_lane_s_routes --help.

Use --log_level to set the log output See possible values at maliput::common::logger::level. By default set to unchanged.