Randomized Road Generation and 3D Visualization

Installation

First: Install Python 3 and Gazebo 8.

sudo apt-get install python3 gazebo8 libgazebo8-dev

pip install -r requirements.txt

Compile the keyframe plugin for gazebo:

cd keyframe_plugin
mkdir build
cd build
cmake ../
make

export GAZEBO_PLUGIN_PATH=`pwd`:$GAZEBO_PLUGIN_PATH

Additionally, install the font located in the commonroad/renderer/fonts subfolder, which is needed to draw speed limit numbers.

Generate a random scenario in CommonRoad XML from Template XML:

./road-generator.py presets/driving.xml -o driving-scenario.xml

Render CommonRoad XML for Gazbeo:

./gazebo-renderer.py driving-scenario.xml -o world

View in Gazbeo: (Make sure the plugin's build folder is set as environment variable GAZEBO_PLUGIN_PATH)

cd world
gazebo world.sdf

Road generation and rendering can also be done in a single step:

./road-generator.py presets/driving.xml | ./gazebo-renderer.py -o world