基于RoadRunn​er导出的Carla​场景和RoadRun​ner导出的Apol​lo地图不匹配

RoadRuner版本：2022B

carla版本: 0.9.14源码编译版本

apollo版本:Apollo 6.0

测试过程

1.利用roadrunner制作好地图场景同时导出fbx和xodr，另外再导出Apollo base_map.txt

2.将地图场景编译好后，启动Carla仿真环境

结果

发现Carla发来的坐标非常小（如x=1,y=2），时间Apollo的地图坐标点都是很大的(如x=300000，y=30000)，导致无法匹配。

Answer 1

[Manikanta Aditya]

Hi,

It looks like you’re facing an issue where the coordinates from the Carla simulation environment are significantly smaller than those from the Apollo map, causing a mismatch.

1. Coordinate System Alignment: Ensure that both RoadRunner and Apollo are using the same coordinate system and units. Sometimes, discrepancies arise from different coordinate systems or units being used.
2. Scaling Factors: Check if there are any scaling factors applied during the export process from RoadRunner to Carla and Apollo. You might need to adjust these scaling factors to ensure consistency.
3. Georeferencing: Verify that the georeferencing settings are correctly configured in both RoadRunner and Apollo. Incorrect georeferencing can lead to significant coordinate mismatches.
4. Export Options: When exporting from RoadRunner, ensure you are using the correct export options for both Carla and Apollo. Double-check the export settings to make sure they are compatible with both platforms

Refer to the following documentations to know more about:

• Export Scene: https://www.mathworks.com/help/driving/ref/roadrunner.exportscene.html
• Import and Export Scenes from RoadRunner: https://www.mathworks.com/videos/importing-and-exporting-scenes-with-roadrunner-1597837006663.html?requestedDomain=
• Export to CARLA: https://www.mathworks.com/help/roadrunner/ug/export-to-carla.html#mw_81aac066-c56d-4bcc-81b7-8c49f71e641b

I hope this helps.