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run_generator command

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Andrés Fortier edited this page Jun 20, 2017 · 13 revisions

run_generator

The run_generator command is the main entry point to the system. It allows to build a city model from a chosen source and generate a set of files to describe it. The only mandatory argument you need to provide to this command is the builder it should use to generate the city model. Below we tell the runner to use the SimpleCityBuilder:

$ python terminus/run_generator.py --builder=SimpleCityBuilder
Building city using SimpleCityBuilder
Generating RNDF file
Generating monolane file

Unless otherwise stated, the output files describing the city will be placed in the generated_worlds/ directory, starting with the city prefix. For this particular case you should see:

$ ll ./generated_worlds/
total 112
drwxrwxr-x 2 andres andres  4096 jun 20 11:26 ./
drwxrwxr-x 9 andres andres  4096 jun 16 15:15 ../
-rw-rw-r-- 1 andres andres  5976 jun 20 11:26 city_gazebo_7.world
-rw-rw-r-- 1 andres andres  1828 jun 20 11:26 city_gazebo_8.world
-rw-rw-r-- 1 andres andres 51561 jun 20 11:26 city_monolane.yaml
-rw-rw-r-- 1 andres andres  6572 jun 20 11:26 city.rndf

Using the --debug flag

Even though the previous command generated four files to describe the road network of the city (one for the RNDF format, another for monolane and two SDF versions), we still need to post-process those files to get a visual representation of them. In order to avoid that repetitive process and provide extra debug information we added a --debug flag that can be passed to the run_generator command. By doing so you will get:

  • Statistics of the city being generated.
  • 2D plots of the road network layout, using both polyline geometry and lines+arcs geometry.
  • If the RNDF visualizer in this repo has been compiled (see here), it will generate an SVG file depicting the road network, showing the waypoints and the exit-entry connections.
  • If Drake has been compiled in your machine and you set up the DRAKE_DISTRO environment variable to point to its root path, the generator will run the yaml_to_obj tool to create an obj file representing the monolane road.

To test this out run:

$ python terminus/run_generator.py --builder=SimpleCityBuilder --debug
Building city using SimpleCityBuilder
====================================
Statistics for Simple City
====================================
Roads: 12
Intersections: 25
Lanes: 16
Buildings: 0
Blocks: 0
Polyline Geometry
  Waypoints: 136
  Intersections: 104
  Average waypoints: 8.5
  Average intersections: 6.5
Lines and Arcs Geometry
  Waypoints: 143
  Intersections: 111
  Average waypoints: 8.9375
  Average intersections: 6.9375
====================================
Generating street plots
Generating RNDF file
Generating SVG for RNDF
Generating Gazebo 7 SDF
Generating Gazebo 8 SDF
Generating monolane file
Generating OBJ for monolane

And check the contents of the output directory:

ll ./generated_worlds/
total 13040
drwxrwxr-x 2 andres andres     4096 jun 20 11:31 ./
drwxrwxr-x 9 andres andres     4096 jun 16 15:15 ../
-rw-rw-r-- 1 andres andres     5976 jun 20 11:31 city_gazebo_7.world
-rw-rw-r-- 1 andres andres     1828 jun 20 11:31 city_gazebo_8.world
-rw-rw-r-- 1 andres andres      445 jun 20 11:31 city_monolane.mtl
-rw-rw-r-- 1 andres andres 13008242 jun 20 11:31 city_monolane.obj
-rw-rw-r-- 1 andres andres    51561 jun 20 11:31 city_monolane.yaml
-rw-rw-r-- 1 andres andres     6572 jun 20 11:31 city.rndf
-rw-rw-r-- 1 andres andres    68005 jun 20 11:31 city_streets_lines_and_arcs.png
-rw-rw-r-- 1 andres andres    68064 jun 20 11:31 city_streets_polyline.png
-rw-rw-r-- 1 andres andres    43108 jun 20 11:31 city.svg

city.rndf

city_monolane.obj

city_streets_polyline.png

city_streets_lines_and_arcs.png

Note: In this particular case it is the same as the polyline version, since all the streets are straight segments

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