Ensure that the OpenDRIVE map's origin coordinates are converted adequately to the final LL2 format in all cases #68
Description
Checklist
- I've read the contribution guidelines.
- I've searched other issues and no duplicate issues were found.
- I've agreed with the maintainers that I can plan this task.
Description
Considering that Autoware runs on a LL2 map, and CARLA runs on OpenDRIVE, it is required that the coordinates between both sides are matching. Running a scenario with mismatched map origins would result in the simulator sending ego location sensor data to a location outside of the Autoware LL2 map, or the impossibility of setting the goal position for the scenario.
Purpose
To remove a blocker that would prevent testing a HD map-dependent Autoware version with CARLA.
Possible approaches
- Investigate geo-location tags used in OpenDRIVE.
- Investigate geo-location information in LL2 maps generated by Web.Auto's Vector Map Builder.
- Check the logic for geo-location conversion in the CommonRoad Scenario Designer tool.
- If required, implement a custom logic for converting the geo-location information.
Definition of done
- The geo-location data is proven to work for all OpenDRIVE maps available.
- Additional scripts or tools required are developed and their usage documented.