load external xodr cause segmentation fault

[SdKay]

trafficstars

• CARLA version: 0.9.13
• Platform/OS: ubuntu20.04
• Problem you have experienced: xodr load segmentation fault
• What you expected to happen: xodr load success
• Steps to reproduce:
  • test code:

import sys
import os
import carla

client = carla.Client('localhost', 2000)
client.set_timeout(10.0)

with open('town01.xodr', encoding='utf-8') as od_file:
#with open('faild.xodr', encoding='utf-8') as od_file:
    try:
        data = od_file.read()
    except OSError:
        print('file could not be readed.')
        sys.exit()

vertex_distance = 2.0  
max_road_length = 500.0 
wall_height = 1.0       
extra_width = 0.6      
world = client.generate_opendrive_world(
    data, 
    carla.OpendriveGenerationParameters(
        vertex_distance=vertex_distance,
        max_road_length=max_road_length,
        wall_height=wall_height,
        additional_width=extra_width,
        smooth_junctions=True,
        enable_mesh_visibility=True
    )
)

tm = client.get_trafficmanager(8000)   # segmentation fault here!!

town01.xodr can be generate world and call client.get_trafficmanager normally, but faild.xodr cracked when call client.get_trafficmanager

• gdb debug info:

I found the problem code here in InMemoryMap.cpp:431, vector traversed_waypoints is empty,

              int16_t current_angle = static_cast<int16_t>(traversed_waypoints.front()->GetTransform().rotation.yaw);
              int16_t junction_end_angle = static_cast<int16_t>(traversed_waypoints.back()->GetTransform().rotation.yaw);

But why traversed_waypoints is empty, Does the faild.xodr file have anythong wrong?

here is the test map: xodr.zip

[Blyron]

Could you try this with 0.9.15 or latest dev branch?

[PatrickPromitzer]

It is hard to check an openDRIVE file without a tool, because the file can get big fast. I normally check with https://odrviewer.io/ if the file can be loaded.

I let it run through a tool I wrote to check if the roads are right. I believe the faild.xodr file doesn't look right. (I could be wrong)

[Blyron]

I mean to run your script on latest version of CARLA

[SdKay]

Could you try this with 0.9.15 or latest dev branch?

Not yet, because we has develop lots of features based on 0.9.13 docker....Maybe I can test it on 0.9.15

[SdKay]

It is hard to check an openDRIVE file without a tool, because the file can get big fast. I normally check with https://odrviewer.io/ if the file can be loaded.

I let it run through a tool I wrote to check if the roads are right. I believe the faild.xodr file doesn't look right. (I could be wrong)

I also think there is a problem with xodr. I have also used this website to load it, but it is always in the loading state.

[PatrickPromitzer]

With the first post you told that town01.xodr can be generated, and faild.xodr can't. With the website not be able to load it, and seeing the output of the tool I wrote, I believe the faild.xodr file it too broken to work in Carla. With how the roads look, I would try to make a new *xodr file, because repairing could take a lot of time.

[Blyron]

Yeah I agree with PatrickPromitzer

[Blyron]

Have you been able to verify your xodr was correct?

[SdKay]

Have you been able to verify your xodr was correct?

Yes, there is something wrong with it, I'm trying to find out where it is and how it comes.

[Blyron]

I am closing this issue as the error is in the xodr so feel free to open it if something comes up