wrong path retrieved by traceroute (GlobalRoutePlanner)

[abdelsalam00]

route retrieved from get_shortest_route is not the shortest path from location (carla.Location(x=-87.2, y=16.3, z=1)) to carla.Location(x=-114.0, y=41.0, z=1)

`import sys
import math
import numpy as np
import time
sys.path.append('D:/Carla/CARLA_0.9.15/PythonAPI/carla') # Adjust path to CARLA installation

from agents.navigation.local_planner import LocalPlanner
from agents.navigation.global_route_planner import GlobalRoutePlanner
import carla

def main():
vehicle = None # Define vehicle outside try block

try:
    # Connect to the CARLA server
    client = carla.Client('localhost', 2000)
    client.set_timeout(10.0)

    # Load the world and map
    world = client.get_world()
    carla_map = world.get_map()

    node_x1 = carla.Location(x=-103.0, y=-2.5, z=1)
    node_x2 = carla.Location(x=-106.0, y=-2.5, z=1)
    node_x3 = carla.Location(x=-110.9, y=-2.5, z=1)
    node_x4 = carla.Location(x=-114.0, y=-2.5, z=1)
    node_x5 = carla.Location(x=-103.0, y=41.0, z=1)
    node_x6 = carla.Location(x=-106.0, y=41.0, z=1)
    node_x7 = carla.Location(x=-110.9, y=41.0, z=1)
    node_x8 = carla.Location(x=-114.0, y=41.0, z=1)
    node_x9 = carla.Location(x=-98.3, y=-42.3, z=1)
    node_x10 = carla.Location(x=-101.6, y=-42.3, z=1)
    node_x11 = carla.Location(x=-105.3, y=-42.3, z=1)
    node_x12 = carla.Location(x=-108.2, y=-44.2, z=1)
    node_x13 = carla.Location(x=-96.4, y=110.5, z=1)
    node_x14 = carla.Location(x=-99.3, y=110.5, z=1)
    node_x15 = carla.Location(x=-102.8, y=110.5, z=1)
    node_x16 = carla.Location(x=-105.6, y=112.4, z=1)
    node_x17 = carla.Location(x=-69.0, y=-58.1, z=1)
    node_x18 = carla.Location(x=-69.0, y=-62.1, z=1)
    node_x19 = carla.Location(x=-69.0, y=-65.1, z=1)
    node_x20 = carla.Location(x=-69.0, y=-68.1, z=1)
    node_x21 = carla.Location(x=-87.2, y=28.0, z=1)
    node_x22 = carla.Location(x=-87.2, y=24.3, z=1)
    node_x23 = carla.Location(x=-87.2, y=16.3, z=1)
    node_x24 = carla.Location(x=-87.2, y=13.1, z=1)
    node_x25 = carla.Location(x=-66.0, y=13.0, z=1)
    node_x26 = carla.Location(x=-66.0, y=16.3, z=1)
    node_x27 = carla.Location(x=-66.0, y=24.3, z=1)
    node_x28 = carla.Location(x=-66.0, y=28.0, z=1)
    node_x29 = carla.Location(x=-66.0, y=129.5, z=1)
    node_x30 = carla.Location(x=-66.0, y=133.0, z=1)
    node_x31 = carla.Location(x=-66.0, y=137.5, z=1)
    node_x32 = carla.Location(x=-66.0, y=140.0, z=1)
    node_x33 = carla.Location(x=-25.0, y=-58.1, z=1)
    node_x34 = carla.Location(x=-25.0, y=-62.1, z=1)
    node_x35 = carla.Location(x=-25.0, y=-65.1, z=1)
    node_x36 = carla.Location(x=-25.0, y=-68.1, z=1)
    node_x37 = carla.Location(x=-27.0, y=13.0, z=1)
    node_x38 = carla.Location(x=-27.0, y=16.3, z=1)
    node_x39 = carla.Location(x=-27.0, y=24.3, z=1)
    node_x40 = carla.Location(x=-27.0, y=28.0, z=1)
    node_x41 = carla.Location(x=-24.5, y=66.0, z=1)
    node_x42 = carla.Location(x=-24.5, y=69.0, z=1)
    node_x43 = carla.Location(x=-24.0, y=130.0, z=1)
    node_x44 = carla.Location(x=-24.0, y=133.0, z=1)
    node_x45 = carla.Location(x=-24.0, y=137.0, z=1)
    node_x46 = carla.Location(x=-24.0, y=140.0, z=1)
    node_x47 = carla.Location(x=-52.1, y=112.3, z=1)
    node_x48 = carla.Location(x=-48.1, y=112.3, z=1)
    node_x49 = carla.Location(x=-45.1, y=112.3, z=1)
    node_x50 = carla.Location(x=-42.1, y=112.3, z=1)
    node_x51 = carla.Location(x=-41.6, y=81.5, z=1)
    node_x52 = carla.Location(x=-45.3, y=81.5, z=1)
    node_x53 = carla.Location(x=-48.7, y=81.5, z=1)
    node_x54 = carla.Location(x=-52.2, y=81.5, z=1)
    node_x55 = carla.Location(x=-41.6, y=54.6, z=1)
    node_x56 = carla.Location(x=-45.3, y=54.6, z=1)
    node_x57 = carla.Location(x=-48.7, y=54.6, z=1)
    node_x58 = carla.Location(x=-52.2, y=54.6, z=1)
    node_x59 = carla.Location(x=-41.6, y=44.2, z=1)
    node_x60 = carla.Location(x=-45.3, y=44.2, z=1)
    node_x61 = carla.Location(x=-48.6, y=44.2, z=1)
    node_x62 = carla.Location(x=-52.7, y=44.2, z=1)
    node_x63 = carla.Location(x=-41.6, y=-3.5, z=1)
    node_x64 = carla.Location(x=-45.3, y=-3.5, z=1)
    node_x65 = carla.Location(x=-48.7, y=-3.5, z=1)
    node_x66 = carla.Location(x=-52.2, y=-3.5, z=1)
    node_x67 = carla.Location(x=-41.6, y=-42.0, z=1)
    node_x68 = carla.Location(x=-45.3, y=-42.0, z=1)
    node_x69 = carla.Location(x=-48.7, y=-42.0, z=1)
    node_x70 = carla.Location(x=-52.2, y=-42.0, z=1)
    node_x71 = carla.Location(x=27.6, y=28.6, z=1)
    node_x72 = carla.Location(x=27.6, y=24.5, z=1)
    node_x73 = carla.Location(x=55.0, y=28.6, z=1)
    node_x74 = carla.Location(x=55.0, y=24.5, z=1)
    node_x75 = carla.Location(x=44.0, y=40.2, z=1)
    node_x76 = carla.Location(x=40.9, y=40.2, z=1)
    node_x77 = carla.Location(x=44.0, y=52.0, z=1)
    node_x78 = carla.Location(x=40.0, y=52.0, z=1)
    node_x79 = carla.Location(x=27.3, y=69.8, z=1)
    node_x80 = carla.Location(x=27.3, y=66.0, z=1)
    node_x81 = carla.Location(x=57.9, y=70.0, z=1)
    node_x82 = carla.Location(x=57.9, y=66.3, z=1)
    node_x83 = carla.Location(x=85.4, y=70.0, z=1)
    node_x84 = carla.Location(x=85.4, y=66.3, z=1)
    node_x85 = carla.Location(x=81.4, y=28.4, z=1)
    node_x86 = carla.Location(x=81.4, y=25.0, z=1)
    node_x87 = carla.Location(x=81.4, y=17.0, z=1)
    node_x88 = carla.Location(x=81.4, y=13.4, z=1)
    node_x89 = carla.Location(x=79.7, y=-54.2, z=1)
    node_x90 = carla.Location(x=81.2, y=-57.3, z=1)
    node_x91 = carla.Location(x=83.1, y=-60.3, z=1)
    node_x92 = carla.Location(x=84.9, y=-63.5, z=1)
    node_x93 = carla.Location(x=99.3, y=-5.0, z=1)
    node_x94 = carla.Location(x=102.9, y=-5.0, z=1)
    node_x95 = carla.Location(x=106.3, y=-5.0, z=1)
    node_x96 = carla.Location(x=110.0, y=-5.0, z=1)
    node_x97 = carla.Location(x=99.0, y=44.6, z=1)
    node_x98 = carla.Location(x=102.5, y=44.6, z=1)
    node_x99 = carla.Location(x=105.9, y=44.6, z=1)
    node_x100 = carla.Location(x=109.5, y=44.6, z=1)
    node_x101 = carla.Location(x=99.0, y=81.5, z=1)
    node_x102 = carla.Location(x=102.5, y=81.5, z=1)
    node_x103 = carla.Location(x=105.9, y=81.5, z=1)
    node_x104 = carla.Location(x=109.5, y=81.5, z=1)
    node_x105 = carla.Location(x=99.0, y=55.6, z=1)
    node_x106 = carla.Location(x=102.5, y=55.6, z=1)
    node_x107 = carla.Location(x=105.9, y=55.6, z=1)
    node_x108 = carla.Location(x=109.5, y=55.6, z=1)
    node_x109 = carla.Location(x=76.1, y=139.6, z=1)
    node_x110 = carla.Location(x=77.6, y=135.7, z=1)
    node_x111 = carla.Location(x=76.9, y=132.1, z=1)
    node_x112 = carla.Location(x=74.1, y=129.5, z=1)
    node_x113 = carla.Location(x=-55.5, y=21.0, z=1)
    node_x114 = carla.Location(x=-40.2, y=21.0, z=1)
    nodes=[]






    for i in range(1, 115):  # Loop from 1 to 114
        node = locals()[f"node_x{i}"]  # Get the variable using locals()
        # nodes.append(world.get_map().get_waypoint(node))
        waypoint = world.get_map().get_waypoint(node)
        nodes.append((waypoint, i))

    for waypoint, index in nodes:
        world.debug.draw_string(
            waypoint.transform.location,
            str(index),  # Convert index to string
            draw_shadow=False,
            color=carla.Color(r=255, g=125, b=0),  # Red color for better visibility
            life_time=35,
            persistent_lines=True
        )

    # Define your custom waypoints
    def get_shortest_route(start, end, world):

        grp = GlobalRoutePlanner(world.get_map(),1.0)
        route = grp.trace_route(start, end)
        return route

    routee = [node_x83, node_x101, node_x112, node_x43]
    x= node_x23
    start_waypoint = carla_map.get_waypoint(x)
    start_rotation = start_waypoint.transform.rotation



    # Spawn a vehicle with the same rotation as the road
    blueprint_library = world.get_blueprint_library()
    vehicle_bp = blueprint_library.find('vehicle.tesla.model3')
    spawn_point = carla.Transform(location=x, rotation=start_rotation)


    vehicle = world.spawn_actor(vehicle_bp, spawn_point)

    dest_index = len(routee) - 1

wrong path from node 84 and 83 to 101 and 102

wrong path from node 24 and 23 to 8 and 7

    route = get_shortest_route( node_x23, node_x8, world)

    for waypoint_tuple in route:
        waypoint = waypoint_tuple[0]  # Access the first element of the tuple
        world.debug.draw_string(
            waypoint.transform.location,
            'o',
            draw_shadow=False,
            color=carla.Color(r=0, g=255, b=255),  # Red for better visibility
            life_time=35,
            persistent_lines=True
        )

    local_planner = LocalPlanner(vehicle)
    local_planner.set_global_plan(route)

    while True:
        vehicle.apply_control(local_planner.run_step())
        world.wait_for_tick()






finally:
    # Destroy the vehicle when exiting
    if vehicle is not None:
        vehicle.destroy()

if name == 'main':
main()`

[abdelsalam00]

this is the route retrieved by route = grp.trace_route(start, end)

[abdelsalam00]

@bernatx could you help me