autoware_lanelet2_map_validator#

autoware_lanelet2_map_validator is a tool to validate Lanelet2 maps to ensure that Autoware can work properly with it.

This validation tool is an extension of lanelet2_validation so that Autoware specific rules can be applied. As you can see from the codes in the src/validators directory, the group of validators belong to this tool inherits the lanelet::validation::MapValidator class from the original lanelet2_validation. Therefore, we believe that reading the source code of the lanelet2_validation will help you understand this tool better.

Note that this validator is still on construction that there are only a few rules and a template to define those rules.

The official Autoware requirements for lanelet2 maps are described in Vector Map creation requirement specifications (in Autoware Documentation).

Design concept#

The autoware_lanelet2_map_validator is designed to validate .osm map files by using and extending the lanelet2_validation package for Autoware.

autoware_lanelet2_map_validator takes the lanelet2 map (.osm file) and requirement set (JSON file, optional) as the input, and output validation results to the console.

If a requirement set is given, autoware_lanelet2_map_validator also outputs validation results reflecting the input requirement set. See "Run with a requirement set" for further information, "Input file" to understand the input format, and "Output file" to understand the output format.

autoware_lanelet2_map_validator_architecture

How to use#

Basically, you can use the following command to execute autoware_lanelet2_map_validator. However, note that autoware_lanelet2_map_validator is a ROS/rclcpp free tool, so you can just run the built executable whatever way.

ros2 run autoware_lanelet2_map_validator autoware_lanelet2_map_validator

Run ALL validators#

You can use autoware_lanelet2_map_validator with the following command. This will run all validators including the default built-in validators in the lanelet2_validation.

ros2 run autoware_lanelet2_map_validator autoware_lanelet2_map_validator --map_file path/to_your/lanelet2_map.osm --projection mgrs

Run a specific validator#

autoware_lanelet2_map_validator consists of multiple small validators in order to realize complex requirements with a combination of them. If you want to call a few validators, you can select them with the --validator, -v option.

ros2 run autoware_lanelet2_map_validator autoware_lanelet2_map_validator --map_file path/to_your/lanelet2_map.osm --projection mgrs --validator mapping.traffic_light.missing_regulatory_elements

You can get a list of available validators with the --print option. (-p is for --projection)

ros2 run autoware_lanelet2_map_validator autoware_lanelet2_map_validator --print

Run with a requirement set#

autoware_lanelet2_map_validator can manage to run a group of validators by a list of validator names. autoware_lanelet2_map_validator will scan through the input JSON file given by the --input_requirements, -i option, and output the validation results to the directory given by the --output_directory, -o option. The output filename will be lanelet2_validation_results.json.

ros2 run autoware_lanelet2_map_validator autoware_lanelet2_map_validator --map_file path/to_your/lanelet2_map.osm --projection mgrs --input_requirements autoware_requirements_set.json --output_directory ./

(Short version)

ros2 run autoware_lanelet2_map_validator autoware_lanelet2_map_validator -m path/to_your/lanelet2_map.osm -p mgrs -i autoware_requirements_set.json -o ./

Input file#

The JSON file input should follow the structure like this example.

{
  "requirements": [
    {
      "id": "vm-02-02",
      "validators": [
        {
          "name": "mapping.stop_line.missing_regulatory_elements"
        }
      ]
    },
    {
      "id": "vm-04-01",
      "validators": [
        {
          "name": "mapping.crosswalk.missing_regulatory_elements"
        },
        {
          "name": "mapping.crosswalk.regulatory_element_details",
          "prerequisites": [
            {
              "name": "mapping.crosswalk.missing_regulatory_elements"
            }
          ]
        }
      ]
    },
    {
      "id": "vm-05-01",
      "validators": [
        {
          "name": "mapping.traffic_light.missing_regulatory_elements"
        },
        {
          "name": "mapping.traffic_light.regulatory_element_details",
          "prerequisites": [
            {
              "name": "mapping.traffic_light.missing_regulatory_elements"
            }
          ]
        }
      ]
    }
  ]
}

MUST have a single requirements field.
The requirements field MUST be a list of requirements. A requirement MUST have
- id : The id of the requirement. Its name is arbitrary.
- validators : A list of validators that structures the requirement.
  - A validator MUST be given with its name on the name field.
  - The name list of available validators can be obtained from the --print option.
  - You can add a list of prerequisites to each validator. Then, the validator will only be run when the prerequisites pass the validation.
  - In the prerequisites field, you can add forgive_warnings: true in order to run the validator even if the prerequisites output warning issues. (Error issues from prerequisites will still skip the validation.). Note that NOT writing the forgive_warnings field and writing forgive_warnings: false means the same.
The user can write any other field (like version) besides requirements.

Output file#

When the input_requirements is thrown to autoware_lanelet2_map_validator, it will output a lanelet2_validation_results.json file which looks like the following example.

{
  "requirements": [
    {
      "id": "vm-02-02",
      "passed": true,
      "validators": [
        {
          "name": "mapping.stop_line.missing_regulatory_elements",
          "passed": true
        }
      ]
    },
    {
      "id": "vm-04-01",
      "passed": false,
      "validators": [
        {
          "issues": [
            {
              "id": 163,
              "message": "No regulatory element refers to this crosswalk.",
              "primitive": "lanelet",
              "severity": "Error"
            },
            {
              "id": 164,
              "message": "No regulatory element refers to this crosswalk.",
              "primitive": "lanelet",
              "severity": "Error"
            },
            {
              "id": 165,
              "message": "No regulatory element refers to this crosswalk.",
              "primitive": "lanelet",
              "severity": "Error"
            },
            {
              "id": 166,
              "message": "No regulatory element refers to this crosswalk.",
              "primitive": "lanelet",
              "severity": "Error"
            }
          ],
          "name": "mapping.crosswalk.missing_regulatory_elements",
          "passed": false
        },
        {
          "issues": [
            {
              "id": 0,
              "message": "Prerequisites didn't pass",
              "primitive": "primitive",
              "severity": "Error"
            }
          ],
          "name": "mapping.crosswalk.regulatory_element_details",
          "passed": false,
          "prerequisites": [
            {
              "name": "mapping.crosswalk.missing_regulatory_elements"
            }
          ]
        }
      ]
    },
    {
      "id": "vm-05-01",
      "passed": false,
      "validators": [
        {
          "name": "mapping.traffic_light.missing_regulatory_elements",
          "passed": true
        },
        {
          "issues": [
            {
              "id": 9896,
              "message": "Regulatory element of traffic light must have a stop line(ref_line).",
              "primitive": "regulatory element",
              "severity": "Error"
            },
            {
              "id": 9918,
              "message": "Regulatory element of traffic light must have a stop line(ref_line).",
              "primitive": "regulatory element",
              "severity": "Error"
            },
            {
              "id": 9838,
              "message": "Regulatory element of traffic light must have a stop line(ref_line).",
              "primitive": "regulatory element",
              "severity": "Error"
            },
            {
              "id": 9874,
              "message": "Regulatory element of traffic light must have a stop line(ref_line).",
              "primitive": "regulatory element",
              "severity": "Error"
            }
          ],
          "name": "mapping.traffic_light.regulatory_element_details",
          "passed": false,
          "prerequisites": [
            {
              "name": "mapping.traffic_light.missing_regulatory_elements"
            }
          ]
        }
      ]
    }
  ]
}

lanelet2_validation_results.json inherits the JSON file of input_requirements and add results to it.
- So additional input information not related to this validator also remains in the output.
autoware_lanelet2_map_validator adds a boolean passed field to each requirement. If all validators of the requirement have been passed, the passed field of the requirement will be true (false if not).
The passed field is also given to each validator. If the validator found any issues the passed field will turn to be false (true if not), and adds an issues field which is a list of issues found. Each issue contains information of severity, primitive, id, and message.

Available command options#

option	description
`-h, --help`	Explains about this tool and show a list of options
`--print`	Print all available checker without running them
`-m, --map_file`	Path to the map to be validated
`-i, --input_requirements`	Path to the JSON file where the list of requirements and validations is written
`-o, --output_directory`	Directory to save the list of validation results in a JSON format
`-v, --validator`	Comma separated list of regexes to filter the applicable validators. Will run all validators by default. Example: `mapping.*` to run all checks for the mapping
`-p, --projector`	Projector used for loading lanelet map. Available projectors are: `mgrs`, `utm`, and `transverse_mercator`.
`-l, --location`	Location of the map (for instantiating the traffic rules), e.g. de for Germany
`--participants`	Participants for which the routing graph will be instantiated (default: vehicle)
`--lat`	latitude coordinate of map origin. This is required for the transverse mercator and utm projector.
`--lon`	longitude coordinate of map origin. This is required for the transverse mercator and utm projector.

Available validators#

Since there will be hundreds of validators in the future, the documents for each validator should categorized in the docs file. The directory structure should be the same to that of the src/validators directory.

Stop Line#

mapping.stop_line.missing_regulatory_elements

Traffic Light#

Crosswalk#

Relationship between requirements and validators#

This is a table describing the correspondence between the validators that each requirement consists of. The "Validators" column will be blank if it hasn't be implemented.

ID	Requirements	Validators
vm-01-01	Lanelet basics
vm-01-02	Allowance for lane changes
vm-01-03	Linestring sharing
vm-01-04	Sharing of the centerline of lanes for opposing traffic
vm-01-05	Lane geometry
vm-01-06	Line position (1)
vm-01-07	Line position (2)
vm-01-08	Line position (3)
vm-01-09	Speed limits
vm-01-10	Centerline
vm-01-11	Centerline connection (1)
vm-01-12	Centerline connection (2)
vm-01-13	Roads with no centerline (1)
vm-01-14	Roads with no centerline (2)
vm-01-15	Road shoulder
vm-01-16	Road shoulder Linestring sharing
vm-01-17	Side strip
vm-01-18	Side strip Linestring sharing
vm-01-19	Walkway
vm-02-01	Stop line alignment	(Not detectable)
vm-02-02	Stop sign	mapping.stop_line.missing_regulatory_elements
vm-03-01	Intersection criteria
vm-03-02	Lanelet's turn direction and virtual
vm-03-03	Lanelet width in the intersection
vm-03-04	Lanelet creation in the intersection
vm-03-05	Lanelet division in the intersection
vm-03-06	Guide lines in the intersection
vm-03-07	Multiple lanelets in the intersection
vm-03-08	Intersection Area range
vm-03-09	Range of Lanelet in the intersection
vm-03-10	Right of way (with signal)
vm-03-11	Right of way (without signal)
vm-03-12	Right of way supplements
vm-03-13	Merging from private area, sidewalk
vm-03-14	Road marking
vm-03-15	Exclusive bicycle lane
vm-04-01	Traffic light basics	mapping.traffic_light.missing_regulatory_elements, mapping.traffic_light.regulatory_element_details (Undone)
vm-04-02	Traffic light position and size
vm-04-03	Traffic light lamps
vm-05-01	Crosswalks across the road	mapping.crosswalk.missing_regulatory_elements, mapping.crosswalk.regulatory_element_details
vm-05-02	Crosswalks with pedestrian signals
vm-05-03	Deceleration for safety at crosswalks
vm-05-04	Fences
vm-06-01	Buffer Zone
vm-06-02	No parking signs
vm-06-03	No stopping signs
vm-06-04	No stopping sections
vm-06-05	Detection area
vm-07-01	Vector Map creation range
vm-07-02	Range of detecting pedestrians who enter the road
vm-07-03	Guardrails, guard pipes, fences
vm-07-04	Ellipsoidal height