Commit 2a1d3604 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Adec competition default config and data

parent 94c78889
......@@ -12,4 +12,4 @@ max_speed_control: 20.0
min_speed_control: -20.0
max_steer_control: 75.0
min_steer_control: -68.0
use_steer_angle_cmd: True
......@@ -8,10 +8,10 @@ confidence_filter_en: False
detection_min_confidence: 126
id_filter_en: True
ids_enabled: "0, 1, 2, 3"
ids_enabled: "1, 2, 3, 4"
time_persistence_filter_en: True
time_persistence_filter_orientation_en: True
time_persistence_filter_en: False
time_persistence_filter_orientation_en: False
time_persistence_alpha_window: 0.15
time_persistence_range_window: 0.2
time_persistence_orientation_th: 0.4
......
......@@ -21,24 +21,24 @@ amcl_localization: False
calculate_covariance: True
publish_tf_map_odom: False
update_problem_rate: 0.001
update_problem_distance: 0.1
update_problem_angle: 0.1
update_problem_rate: 0.00001
update_problem_distance: 0.07
update_problem_angle: 0.07
update_problem_features_detected: 3
wait_feature_detected_timeout: 0.2
problem_frame_window: 120
problem_frame_window: 150
landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmark_mahalanobis_dist: 4.0
landmarks_min_detections: 4
landmarks_filter_orientation_en: True
landmarks_filter_orientation_en: False
landmarks_orientation_th: 0.4
landmarks_xodr_scale: 10.0
sensor_sigma_r: 0.1
sensor_sigma_r: 0.3
sensor_sigma_th: 0.15
odom_fxy: 0.1
odom_fth: 0.15
odom_fxy: 0.2
odom_fth: 0.25
odom_fxyth: 0.25
odom_sigma_min: 0.000001
<?xml version="1.0" ?>
<OpenDRIVE>
<header revMajor="1" revMinor="1" name="Testfile" version="1" date="Thu Feb 8 14:24:06 2007" north="2.0000000000000000e+03" south="-2.0000000000000000e+03" east="2.0000000000000000e+03" west="-2.0000000000000000e+03" />
<road name="road0" length="1.3119999999999999e+01" id="0" junction="-1">
<link>
<predecessor elementType="junction" elementId="1" contactPoint="end" />
<successor elementType="road" elementId="1" contactPoint="start" />
</link>
<type s="0.0000000000000000e+00" type="motorway" />
<planView>
<geometry s="0.0000000000000000e+00" x="8.3379999999999995e+01" y="1.7204999999999998e+01" hdg="0.0000000000000000e+00" length="1.3119999999999999e+01">
<line />
</geometry>
</planView>
<elevationProfile />
<lateralProfile />
<lanes>
<laneSection s="0.0000000000000000e+00">
<left>
<lane id="1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</left>
<center>
<lane id="0" type="driving" level="false">
<link />
<roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="2.0000000000000001e-01" laneChange="both" />
</lane>
</center>
<right>
<lane id="-1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</right>
</laneSection>
</lanes>
<objects>
<object s="1.0500000000000000e+01" t="1.4910000000000000e+01" id="2005" name="building5" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="building" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="1.4779999999999999e+01" width="9.8000000000000007e+00" height="2.0000000000000000e+00" />
</objects>
<signals>
<signal s="1.0500000000000000e+01" t="7.5199999999999996e+00" id="101" name="locsign1" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.2800000000000001e+01" t="-1.6120000000000001e+01" id="102" name="locsign2" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="1.0500000000000000e+01" t="2.2300000000000001e+01" id="106" name="locsign6" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road1" length="2.0232056689000000e+01" id="1" junction="-1">
<link>
<predecessor elementType="road" elementId="0" contactPoint="end" />
<successor elementType="road" elementId="2" contactPoint="start" />
</link>
<type s="0.0000000000000000e+00" type="motorway" />
<planView>
<geometry s="0.0000000000000000e+00" x="9.6500000000000000e+01" y="1.7204999999999998e+01" hdg="0.0000000000000000e+00" length="1.0000000000000000e-04">
<spiral curvStart="0.0000000000000000e+00" curvEnd="7.7639752000000006e-02" />
</geometry>
<geometry s="1.0000000000000000e-04" x="9.6500100000000003e+01" y="1.7205000000129399e+01" hdg="3.8819876000000010e-06" length="2.0231856689000001e+01">
<arc curvature="7.7639752000000006e-02" />
</geometry>
<geometry s="2.0231956689000000e+01" x="1.0938004992571371e+02" y="3.0085050042260775e+01" hdg="1.5708002178211014e+00" length="1.0000000000000000e-04">
<spiral curvStart="7.7639752000000006e-02" curvEnd="0.0000000000000000e+00" />
</geometry>
</planView>
<elevationProfile />
<lateralProfile />
<lanes>
<laneSection s="0.0000000000000000e+00">
<left>
<lane id="1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</left>
<center>
<lane id="0" type="driving" level="false">
<link />
<roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="2.0000000000000001e-01" laneChange="both" />
</lane>
</center>
<right>
<lane id="-1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</right>
</laneSection>
</lanes>
<objects />
<signals />
</road>
<road name="road2" length="4.1550000000000002e+00" id="2" junction="-1">
<link>
<predecessor elementType="road" elementId="1" contactPoint="end" />
<successor elementType="road" elementId="3" contactPoint="start" />
</link>
<type s="0.0000000000000000e+00" type="motorway" />
<planView>
<geometry s="0.0000000000000000e+00" x="1.0938000000000000e+02" y="3.0085000000000001e+01" hdg="1.5707000000000000e+00" length="4.1550000000000002e+00">
<line />
</geometry>
</planView>
<elevationProfile />
<lateralProfile />
<lanes>
<laneSection s="0.0000000000000000e+00">
<left>
<lane id="1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</left>
<center>
<lane id="0" type="driving" level="false">
<link />
<roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="2.0000000000000001e-01" laneChange="both" />
</lane>
</center>
<right>
<lane id="-1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</right>
</laneSection>
</lanes>
<objects />
<signals>
<signal s="2.1250000000000000e+00" t="1.0480000000000000e+01" id="103" name="locsign3" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="2.1250000000000000e+00" t="2.0280000000000001e+01" id="107" name="locsign7" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="2.1250000000000000e+00" t="-1.1119999999999999e+01" id="104" name="locsign4" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road3" length="2.0232056689000000e+01" id="3" junction="-1">
<link>
<predecessor elementType="road" elementId="2" contactPoint="end" />
<successor elementType="road" elementId="25" contactPoint="start" />
</link>
<type s="0.0000000000000000e+00" type="motorway" />
<planView>
<geometry s="0.0000000000000000e+00" x="1.0938000000000000e+02" y="3.4240000000000002e+01" hdg="1.5707000000000000e+00" length="1.0000000000000000e-04">
<spiral curvStart="0.0000000000000000e+00" curvEnd="7.7639752000000006e-02" />
</geometry>
<geometry s="1.0000000000000000e-04" x="1.0938000000950328e+02" y="3.4240099999999551e+01" hdg="1.5707038819876000e+00" length="2.0231856689000001e+01">
<arc curvature="7.7639752000000006e-02" />
</geometry>
<geometry s="2.0231956689000000e+01" x="9.6501190711420790e+01" y="4.7121290559894419e+01" hdg="3.1415002178211013e+00" length="1.0000000000000000e-04">
<spiral curvStart="7.7639752000000006e-02" curvEnd="0.0000000000000000e+00" />
</geometry>
</planView>
<elevationProfile />
<lateralProfile />
<lanes>
<laneSection s="0.0000000000000000e+00">
<left>
<lane id="1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</left>
<center>
<lane id="0" type="driving" level="false">
<link />
<roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="2.0000000000000001e-01" laneChange="both" />
</lane>
</center>
<right>
<lane id="-1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</right>
</laneSection>
</lanes>
<objects />
<signals />
</road>
<road name="road4" length="4.0526745231000007e+01" id="4" junction="-1">
<link>
<predecessor elementType="road" elementId="25" contactPoint="end" />
<successor elementType="road" elementId="26" contactPoint="start" />
</link>
<type s="0.0000000000000000e+00" type="motorway" />
<planView>
<geometry s="0.0000000000000000e+00" x="9.6280000000000001e+01" y="4.7119999999999997e+01" hdg="3.1415899999999999e+00" length="1.0000000000000000e-04">
<spiral curvStart="0.0000000000000000e+00" curvEnd="-7.7519378999999999e-02" />
</geometry>
<geometry s="1.0000000000000000e-04" x="9.6279899999999998e+01" y="4.7120000000394555e+01" hdg="3.1415861240310501e+00" length="4.0526545231000000e+01">
<arc curvature="-7.7519378999999999e-02" />
</geometry>
<geometry s="4.0526645231000003e+01" x="9.6280068020569701e+01" y="7.2920000281067445e+01" hdg="-6.4952914806681861e-06" length="1.0000000000000000e-04">
<spiral curvStart="-7.7519378999999999e-02" curvEnd="0.0000000000000000e+00" />
</geometry>
</planView>
<elevationProfile />
<lateralProfile />
<lanes>
<laneSection s="0.0000000000000000e+00">
<left>
<lane id="1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</left>
<center>
<lane id="0" type="driving" level="false">
<link />
<roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="2.0000000000000001e-01" laneChange="both" />
</lane>
</center>
<right>
<lane id="-1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</right>
</laneSection>
</lanes>
<objects>
<object s="2.0231900000000000e+01" t="-3.7880000000000003e+01" id="3000" name="fence0" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="barrier" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="2.0000000000000000e+00" width="1.2200000000000000e+02" height="2.0000000000000000e+00" />
</objects>
<signals>
<signal s="2.0231900000000000e+01" t="-3.6880000000000003e+01" id="105" name="locsign5" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="2.0231900000000000e+01" t="1.5960000000000001e+01" id="121" name="locsign21" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="2.0231900000000000e+01" t="2.9960000000000001e+01" id="122" name="locsign22" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road5" length="2.0232056689000000e+01" id="5" junction="-1">
<link>
<predecessor elementType="road" elementId="26" contactPoint="end" />
<successor elementType="road" elementId="6" contactPoint="start" />
</link>
<type s="0.0000000000000000e+00" type="motorway" />
<planView>
<geometry s="0.0000000000000000e+00" x="9.6680000000000007e+01" y="7.2920000000000002e+01" hdg="0.0000000000000000e+00" length="1.0000000000000000e-04">
<spiral curvStart="0.0000000000000000e+00" curvEnd="7.7639752000000006e-02" />
</geometry>
<geometry s="1.0000000000000000e-04" x="9.6680100000000010e+01" y="7.2920000000129406e+01" hdg="3.8819876000000010e-06" length="2.0231856689000001e+01">
<arc curvature="7.7639752000000006e-02" />
</geometry>
<geometry s="2.0231956689000000e+01" x="1.0956004992571371e+02" y="8.5800050042260779e+01" hdg="1.5708002178211014e+00" length="1.0000000000000000e-04">
<spiral curvStart="7.7639752000000006e-02" curvEnd="0.0000000000000000e+00" />
</geometry>
</planView>
<elevationProfile />
<lateralProfile />
<lanes>
<laneSection s="0.0000000000000000e+00">
<left>
<lane id="1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</left>
<center>
<lane id="0" type="driving" level="false">
<link />
<roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="2.0000000000000001e-01" laneChange="both" />
</lane>
</center>
<right>
<lane id="-1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</right>
</laneSection>
</lanes>
<objects />
<signals />
</road>
<road name="road6" length="4.2800000000000002e+00" id="6" junction="-1">
<link>
<predecessor elementType="road" elementId="5" contactPoint="end" />
<successor elementType="road" elementId="7" contactPoint="start" />
</link>
<type s="0.0000000000000000e+00" type="motorway" />
<planView>
<geometry s="0.0000000000000000e+00" x="1.0956000000000000e+02" y="8.5799999999999997e+01" hdg="1.5707000000000000e+00" length="4.2800000000000002e+00">
<line />
</geometry>
</planView>
<elevationProfile />
<lateralProfile />
<lanes>
<laneSection s="0.0000000000000000e+00">
<left>
<lane id="1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</left>
<center>
<lane id="0" type="driving" level="false">
<link />
<roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="2.0000000000000001e-01" laneChange="both" />
</lane>
</center>
<right>
<lane id="-1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</right>
</laneSection>
</lanes>
<objects />
<signals>
<signal s="2.1250000000000000e+00" t="-1.1119999999999999e+01" id="108" name="locsign8" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="2.1250000000000000e+00" t="1.1880000000000001e+01" id="109" name="locsign9" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="2.1250000000000000e+00" t="2.3879999999999999e+01" id="110" name="locsign10" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="2.1250000000000000e+00" t="4.1719999999999999e+01" id="119" name="locsign19" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="2.1250000000000000e+00" t="5.5719999999999999e+01" id="120" name="locsign20" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road7" length="2.0232056689000000e+01" id="7" junction="-1">
<link>
<predecessor elementType="road" elementId="6" contactPoint="end" />
<successor elementType="road" elementId="8" contactPoint="start" />
</link>
<type s="0.0000000000000000e+00" type="motorway" />
<planView>
<geometry s="0.0000000000000000e+00" x="1.0956000000000000e+02" y="9.0079999999999998e+01" hdg="1.5707000000000000e+00" length="1.0000000000000000e-04">
<spiral curvStart="0.0000000000000000e+00" curvEnd="7.7639752000000006e-02" />
</geometry>
<geometry s="1.0000000000000000e-04" x="1.0956000000950328e+02" y="9.0080099999999547e+01" hdg="1.5707038819876000e+00" length="2.0231856689000001e+01">
<arc curvature="7.7639752000000006e-02" />
</geometry>
<geometry s="2.0231956689000000e+01" x="9.6681190711420797e+01" y="1.0296129055989442e+02" hdg="3.1415002178211013e+00" length="1.0000000000000000e-04">
<spiral curvStart="7.7639752000000006e-02" curvEnd="0.0000000000000000e+00" />
</geometry>
</planView>
<elevationProfile />
<lateralProfile />
<lanes>
<laneSection s="0.0000000000000000e+00">
<left>
<lane id="1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</left>
<center>
<lane id="0" type="driving" level="false">
<link />
<roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="2.0000000000000001e-01" laneChange="both" />
</lane>
</center>
<right>
<lane id="-1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</right>
</laneSection>
</lanes>
<objects />
<signals />
</road>
<road name="road8" length="1.3240000000000000e+01" id="8" junction="-1">
<link>
<predecessor elementType="road" elementId="7" contactPoint="end" />
<successor elementType="junction" elementId="2" contactPoint="start" />
</link>
<type s="0.0000000000000000e+00" type="motorway" />
<planView>
<geometry s="0.0000000000000000e+00" x="9.6680000000000007e+01" y="1.0295999999999999e+02" hdg="3.1415899999999999e+00" length="1.3240000000000000e+01">
<line />
</geometry>
</planView>
<elevationProfile />
<lateralProfile />
<lanes>
<laneSection s="0.0000000000000000e+00">
<left>
<lane id="1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</left>
<center>
<lane id="0" type="driving" level="false">
<link />
<roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="2.0000000000000001e-01" laneChange="both" />
</lane>
</center>
<right>
<lane id="-1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</right>
</laneSection>
</lanes>
<objects>
<object s="5.0000000000000000e+00" t="1.5000000000000000e+01" id="2007" name="building7" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="building" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" radius="6.0000000000000000e+00" height="2.0000000000000000e+00" />
</objects>
<signals>
<signal s="5.0000000000000000e+00" t="9.0000000000000000e+00" id="111" name="locsign11" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="5.0000000000000000e+00" t="2.1000000000000000e+01" id="112" name="locsign12" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="5.0000000000000000e+00" t="-1.6120000000000001e+01" id="113" name="locsign13" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road9" length="1.5050000000000001e+01" id="9" junction="-1">
<link>
<predecessor elementType="junction" elementId="2" contactPoint="end" />
<successor elementType="junction" elementId="3" contactPoint="start" />
</link>
<type s="0.0000000000000000e+00" type="motorway" />
<planView>
<geometry s="0.0000000000000000e+00" x="6.7640000000000001e+01" y="1.0295999999999999e+02" hdg="3.1415899999999999e+00" length="1.5050000000000001e+01">
<line />
</geometry>
</planView>
<elevationProfile />
<lateralProfile />
<lanes>
<laneSection s="0.0000000000000000e+00">
<left>
<lane id="1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</left>
<center>
<lane id="0" type="driving" level="false">
<link />
<roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="2.0000000000000001e-01" laneChange="both" />
</lane>
</center>
<right>
<lane id="-1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</right>
</laneSection>
</lanes>
<objects>
<object s="7.2400000000000002e+00" t="1.5480000000000000e+01" id="2002" name="building2" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="building" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="1.4000000000000000e+01" width="1.4000000000000000e+01" height="2.0000000000000000e+00" />
<object s="7.2400000000000002e+00" t="4.3659999999999997e+01" id="2003" name="building3" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="building" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="1.4000000000000000e+01" width="1.4000000000000000e+01" height="2.0000000000000000e+00" />
<object s="7.4000000000000004e+00" t="-1.7120000000000001e+01" id="3003" name="fence3" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="building" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="2.0000000000000000e+00" width="1.2000000000000000e+02" height="2.0000000000000000e+00" />
<object s="7.5250000000000004e+00" t="-6.5999999999999996e+00" id="4006" name="parking6" dynamic="no" orientation="none" zOffset="1.0000000000000000e+00" validLength="0.0000000000000000e+00" type="parkingSpace" hdg="0.0000000000000000e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00" length="8.6999999999999993e+00" width="4.7000000000000002e+00" height="2.0000000000000000e+00">
<parkingSpace access="all" restrictions="none">
<marking side="front" type="solid" width="1.4999999999999999e-01" color="standard" />
<marking side="rear" type="solid" width="1.4999999999999999e-01" color="standard" />
<marking side="right" type="solid" width="1.4999999999999999e-01" color="standard" />
</parkingSpace>
</object>
</objects>
<signals>
<signal s="7.2400000000000002e+00" t="-1.6120000000000001e+01" id="114" name="locsign14" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="7.2400000000000002e+00" t="8.4800000000000004e+00" id="115" name="locsign15" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="7.2400000000000002e+00" t="2.2480000000000000e+01" id="116" name="locsign16" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="7.2400000000000002e+00" t="3.6659999999999997e+01" id="117" name="locsign17" dynamic="no" orientation="+" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
<signal s="7.2400000000000002e+00" t="5.0659999999999997e+01" id="118" name="locsign18" dynamic="no" orientation="-" zOffset="0.0000000000000000e+00" country="DEU" type="1000" subtype="-1" value="0.0000000000000000e+00" />
</signals>
</road>
<road name="road10" length="1.3119999999999999e+01" id="10" junction="-1">
<link>
<predecessor elementType="junction" elementId="3" contactPoint="end" />
<successor elementType="road" elementId="11" contactPoint="start" />
</link>
<type s="0.0000000000000000e+00" type="motorway" />
<planView>
<geometry s="0.0000000000000000e+00" x="3.6789999999999999e+01" y="1.0295999999999999e+02" hdg="3.1415899999999999e+00" length="1.3119999999999999e+01">
<line />
</geometry>
</planView>
<elevationProfile />
<lateralProfile />
<lanes>
<laneSection s="0.0000000000000000e+00">
<left>
<lane id="1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00" />
<roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="2.9999999999999999e-01" laneChange="both" />
<speed sOffset="0.0000000000000000e+00" max="6.0000000000000000e+01" />
</lane>
</left>
<center>
<lane id="0" type="driving" level="false">
<link />
<roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="2.0000000000000001e-01" laneChange="both" />
</lane>
</center>
<right>
<lane id="-1" type="driving" level="false">
<link />
<width sOffset="0.0000000000000000e+00" a="4.4000000000000004e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000