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Automatic SUMO integration

The cmake files of the sub-project sumo_if_ros are configured to automatically download and install SUMO in the folder catkin_ws/src/adore/sumo. To trigger the automatic installation, build sumo_if_ros:

cd ~/catkin_ws/src/adore
catkin build sumo_if_ros

The ros node sumo_if_ros/sumotraffic2ros advances SUMO time steps according to the ADORe simulation time and exchanges data between SUMO and ROS. See section adore_if_ros_demos for examples.

Manual SUMO integration

The following steps can be found in the SUMO documentation and have been slightly modified to attribute for file paths.

Install a complete instance of sumo in the src folder:

 sudo apt-get install cmake python g++ libxerces-c-dev libfox-1.6-dev libgdal-dev libproj-dev libgl2ps-dev swig

 cd ~/catkin_ws/src/adore
 git clone --recursive https://github.com/eclipse/sumo
 export SUMO_HOME="$PWD/sumo"

 mkdir sumo/build/cmake-build && cd sumo/build/cmake-build
 cmake ../..
 make -j$(nproc)

The files for TraCI/c++ interfacing with sumo are located here:

sumo/src/utils/traci/TraCIAPI.h
sumo/src/utils/traci/TraCIAPI.cpp
sumo/src/foreign/tcpip/socket.h
sumo/src/foreign/tcpip/socket.cpp
sumo/src/foreign/tcpip/storage.h
sumo/src/foreign/tcpip/storage.cpp
sumo/src/traci-server/TraCIConstants.h
sumo/src/libsumo/TraCIDefs.h

If you start sumo with the following parameters:

cd ${SUMO_HOME}
./bin/sumo --remote-port 1337 -c tests/complex/tutorial/quickstart/data/quickstart.sumocfg --step-length 0.01

The TraCI client can be connected as follows:

TraCIAPI client;
client.connect("localhost", 1337);

Generate a network file

One option is to convert OpenDrive files directly:

See sumo doc on netgenerate:

netconvert --opendrive myOpenDriveNetwork.xodr -o mySUMOnetwork.net.xml --offset.disable-normalization

Another option is to convert maps, which are readable by adore, into SUMO PlainXML format SUMO PlainXML specification: ADORe provides a plainxmlexporter binary, available from the selected binary folder, e.g. install/lib/adore_if_ros. Provide one or more map file paths as argument to binary in order to create PlainXML output output.nod.xml node defintions, output.edg.xml edge definitions and output.con.xml connection definitions. Currently, xodr and r2s maps can be read and converted. The parameters for plainxmlexporter are [plot] infile1[,transform] [infile2[,transform]] ... outfile, where plot allows immediate output of loaded files to plotlab, each infile specifies path to a map file and outfile defines prefix of Plain-XML output files. Road2Simulation input files (file1.r2sl, file1.r2sr) have to be specified as (file1.r2s) in a single infile name. The transform arguments allow to enable/disable application of transforms specified in the OpenDrive header. The resulting PlainXML files can be further converted to a Net-XML format using sumo netconvert.

Here is an example:

cd ~/catkin_ws

prefix=src/adore/adore_if_ros_demos/tracks/r2s/tost2dlr

install/lib/adore_if_ros/plainxmlexporter $prefix.r2s $prefix

src/adore/sumo/bin/netconvert \
  --node-files=$prefix.nod.xml \
  --edge-files=$prefix.edg.xml \
  --connection-files=$prefix.con.xml \
  --output-file=$prefix.net.xml

Define a route description

Define a file routes.xml schema, which contain vehicle and flow.

<routes>
    <vType id="traffic" accel="0.8" decel="4.5" sigma="0.5" length="5" maxSpeed="70"/>
    <flow id="id" type="traffic" begin="0" end="3600" probability="0.1" from="start" to="end" />
</routes>

Define a re-router in additional file

Example for circular track can be found here

<additionals>
    <rerouter id="rerouter_0" edges="-1.0.00">
        <interval end="1e9">
           <destProbReroute id="-1.157.08"/>
        </interval>
    </rerouter>
    <rerouter id="rerouter_1" edges="-1.157.08">
        <interval end="1e9">
           <destProbReroute id="-1.0.00"/>
        </interval>
    </rerouter>
</additionals>