roadrunner-convert-lanelet2-to-rrhd

What it does

Converts Lanelet2 (.osm) maps to RoadRunner HD Map (.rrhd) format. It enforces a complete pipeline: parse OSM, validate lanelet2 format, extract lanelets, discover all element types (including signs, barriers, markings), and build geometry and RRHD objects for the map using MATLAB. It supports a full conversion flow from Lanelet2 sources to RRHD outputs with automated companion skills to resolve semantics and authoring patterns.

How it works

• Checks for Lanelet2-specific content in the input and errors if the file is not Lanelet2 (requires type=lanelet in at least one relation).
• Parses OSM to obtain nodes, ways, and relations; classifies lanelet-related elements and non-lanelet elements.
• Step 3a: extracts lanelets (left/right ways, subtype, speed limit, turn directions).
• Step 3b: discovers all way types by scanning every way, grouping into categories such as stop_line, pedestrian_marking, zebra_marking, fence, guard_rail, jersey_barrier, wall, curbstone, traffic_sign, traffic_light, etc.
• Step 3c: discovers all relation types and sorts non-lanelet relations into trafficSignRels, speedLimitRels, rightOfWayRels, trafficLightRels, multipolygonRels, unmappedRels, and prints a discovery summary.
• Step 4: builds geometry by resolving node geometry, preferring local_x/local_y when present, otherwise projecting lat/lon to ENU meters using a map origin (from map_projector_info.yaml) or centroid fallback.
• Enforces mandatory center-line synthesis: detects opposing boundaries, resamples to a density-based point count, averages to center line, enforces orthogonal endpoints with tangent blending, and preserves boundary geometry without modification.
• Outputs MATLAB-constructed RRHD objects and runs through the required pipeline steps in a single code block, ensuring all steps execute (lanes, boundaries, junctions, curve markings, barriers, signs, speed limits).

When to use it

• When converting a Lanelet2 .osm file to RoadRunner HD Map .rrhd format.
• When importing Lanelet2 maps into RoadRunner via MATLAB.
• When building RRHD from .osm sources that contain type=lanelet relations.
• When a full conversion pipeline is required (parse, geometry, topology, semantics, junctions, barriers, signs, and speed limits).

What it can touch

• The conversion pipeline touches MATLAB code generated at runtime in a script context (no nested functions). It uses MATLAB data structures and RoadRunner object constructors with Name=Value syntax for assets like RelativeAssetPath and AlignedReference. It relies on companion skills roadrunner-rrhd-authoring and roadrunner-asset-mapping during conversion for API references and asset path resolution.

Caveats

• This skill is limited to Lanelet2 OSM inputs; non-Lanelet OpenStreetMap inputs are rejected with an explicit error.
• Boundary geometry is immutable after initial parsing; do not modify boundary points post-parsing.
• The process requires that all steps (lanes, boundaries, junctions, curve markings, barriers, signs, speed limits) be executed; the completeness gate enforces this.