Carla Map Town01 yields wrong map at junction

[tin1254]

In GenerateFromJunctions, we may also need to consider laneLink under connection in junction of opendrive map, but not connecting every lane independently to pre/successor

[tin1254]

There are consecutive lane sections connected to each other. Right now in roadgraph, we omitted this information and connect each of them directly to pre/successor. This doesn't cause any routing issue so far.

To fix this, we might also want to consider the contactPoint tag.
<predecessor elementType="road" elementId="0" contactPoint="end"/>

[klemense1]

in roadgraph.cpp, Line 449 // TODO(@hart): there could be mult. lane_sections
the issue with connecting multiple lane_sections will probably be tackled at. what do you think? is that the problem we are facing with the junction?

[tin1254]

in roadgraph.cpp, Line 449 // TODO(@hart): there could be mult. lane_sections
the issue with connecting multiple lane_sections will probably be tackled at. what do you think? is that the problem we are facing with the junction?

Those lines of code are the reason of another issue I encountered at another junction, but not the one I show in bark-simulator/carla-interface#4 (comment).

[tin1254]

in roadgraph.cpp, Line 449 // TODO(@hart): there could be mult. lane_sections
the issue with connecting multiple lane_sections will probably be tackled at. what do you think? is that the problem we are facing with the junction?

I think it would be a great fix to bark, and it can surely alleviate the issues we faced on Carla maps

[klemense1]

Town01_small_v1.zip