RoadRunner Scene Import

Import map files into a RoadRunner scene for visualization, verification, and building.

When to Use

• Importing a .rrhd file into RoadRunner for visual verification
• Importing an OpenDRIVE .xodr file into RoadRunner
• Verifying converted maps after Lanelet2-to-RRHD or other conversions
• Configuring build options (asphalt surfaces, bridge detection, junction preservation)

When NOT to Use

• Launching RoadRunner or managing projects — use roadrunner-core
• Building RRHD map content — use roadrunner-rrhd-authoring
• Converting Lanelet2 to RRHD — use roadrunner-convert-lanelet2-to-rrhd
• Looking up asset paths — use roadrunner-asset-mapping

Key Rules

• Always write to .m files when executing code. Never put multi-line MATLAB code directly in evaluate_matlab_code. Write to a .m file, run with run_matlab_file, edit on error. Exception: if the user asks to "show the pattern" or says "do not execute", show code inline without writing files.
• Requires rrApp from roadrunner-core. Do not launch or connect to RoadRunner in this skill. If rrApp does not exist, invoke roadrunner-core first.
• Always copy file to project folder. Use status(rrApp).Project.Filename and copyfile() explicitly in every import workflow — never omit or hide behind a variable.
• Always set bridgeOpts.IsEnabled = true explicitly. Never rely on constructor defaults for bridge auto-detection.
• Run enforcement gates before importScene. File location, extension, and build-option checks are mandatory.
• Load before Build by default. Use ImportStep="Load" unless user explicitly requests a full build.
• NEVER hardcode DetectAsphaltSurfaces = true for converted maps. Always inspect the RRHD for closed-loop topology first. Closed-loop networks (most Lanelet2 conversions) MUST use DetectAsphaltSurfaces = false — asphalt detection fills the interior of loops.
• ALWAYS preserve junctions when they exist. If tempMap.Junctions is non-empty, you MUST set overlapOpts.IsEnabled = true, overlapOpts.PreserveJunctionLanes = true, and overlapOpts.PreserveJunctionShape = true. Never rely on RoadRunner's auto-detection to re-infer junctions — it discards authored geometry.

Prerequisites

• A valid rrApp handle must exist (produced by roadrunner-core skill)
• A RoadRunner project must be open
• If rrApp does not exist, invoke roadrunner-core first to launch and connect

Connection, launching, and project lifecycle are owned by roadrunner-core. This skill assumes rrApp is already available.

Import Workflow

Step 1: Create a Fresh Scene

Always create a new scene before importing to avoid stale data:

newScene(rrApp);

Step 2: Copy File to Project (MANDATORY — always show explicitly)

RoadRunner requires imported files to be inside the project folder. You MUST always include this exact pattern in your generated code — never assume the file is already there or hide it behind a variable:

st = status(rrApp);
projectFolder = st.Project.Filename;
[~, fileName, ext] = fileparts(sourceFile);
destFile = fullfile(projectFolder, fileName + ext);
copyfile(sourceFile, destFile);

NEVER omit the copyfile() call or the status(rrApp).Project.Filename lookup. Even if you define a destFile variable elsewhere, you MUST show both the project path retrieval and the copy operation explicitly in every import workflow.

Step 3: Import the Map

RoadRunner HD Map (.rrhd)

Load only (inspect RRHD view before build):

importOpts = roadrunnerHDMapImportOptions;
importOpts.ImportStep = "Load";
importScene(rrApp, destFile, "RoadRunner HD Map", importOpts);

Full import with build (use conditional logic — NEVER hardcode asphalt/junction settings):

Do NOT copy a fixed template. Always use the "Conditional Build Options" section below to determine the correct settings based on RRHD content. The enforcement gate will reject hardcoded DetectAsphaltSurfaces = true for RRHD files.

IMPORTANT: When enabling bridge auto-detection, you MUST always write bridgeOpts.IsEnabled = true explicitly. Do NOT rely on the constructor default — the line must appear in the generated code.

Conditional Build Options (MANDATORY — apply based on map content)

Inspect the RRHD content before choosing build options. The following rules determine when to enable/disable specific settings:

Example: Import with junction-aware options:

importOpts = roadrunnerHDMapImportOptions;
buildOpts = roadrunnerHDMapBuildOptions;
buildOpts.ClearSceneOfExistingData = true;

% Read RRHD to inspect content before build
tempMap = roadrunnerHDMap;
read(tempMap, destFile);

% Conditional: asphalt surfaces
hasClosedLoops = false;  % Detect from lane topology (any lane chain forming a cycle)
if hasClosedLoops
    buildOpts.DetectAsphaltSurfaces = false;
else
    buildOpts.DetectAsphaltSurfaces = true;
end

% Conditional: overlap groups / junctions
overlapOpts = enableOverlapGroupsOptions;
if isempty(tempMap.Junctions) || numel(tempMap.Junctions) == 0
    overlapOpts.IsEnabled = false;
else
    overlapOpts.IsEnabled = true;
    overlapOpts.PreserveJunctionLanes = true;
    overlapOpts.PreserveJunctionShape = true;
end
buildOpts.EnableOverlapGroupsOptions = overlapOpts;

bridgeOpts = autoDetectBridgesOptions;
bridgeOpts.IsEnabled = true;
buildOpts.AutoDetectBridgesOptions = bridgeOpts;

importOpts.BuildOptions = buildOpts;
importScene(rrApp, destFile, "RoadRunner HD Map", importOpts);

OpenDRIVE (.xodr)

importOpts = openDriveImportOptions;
importOpts.ImportSignals = true;
importOpts.ImportObjects = true;
importScene(rrApp, destFile, "OpenDRIVE", importOpts);

Step 4: Save the Scene

[~, sceneName] = fileparts(sourceFile);
saveScene(rrApp, sceneName);

Import Options Reference

roadrunnerHDMapImportOptions

roadrunnerHDMapBuildOptions

enableOverlapGroupsOptions

openDriveImportOptions

Supported Formats

Default Behavior

When the user asks to "import a map" or "load into RoadRunner":

1. Ensure rrApp exists (invoke roadrunner-core if not)
2. Create a new scene (clean slate)
3. Copy file to project Assets folder
4. Import with Load only (ImportStep="Load") so user can verify RRHD view
5. Save the scene with the filename as scene name

Only perform a full build (with BuildOptions) when the user explicitly asks to build or the RRHD view has been verified.

When building, always inspect the RRHD content first and apply the conditional build options from the "Conditional Build Options" section above. Never use fixed/hardcoded build options without checking map content.

Key Functions

Enforcement Gate (MANDATORY — run before import)

You MUST execute these checks before calling importScene. Do NOT skip.

%% --- ENFORCEMENT: RoadRunner is connected ---
try
    st = status(rrApp);
    assert(~isempty(st.Project.Filename), 'No project open');
    fprintf('RoadRunner connected, project: %s\n', st.Project.Filename);
catch
    error('RoadRunner:NotConnected', ...
        'No RoadRunner instance connected. Run the Connection Strategy block first.');
end

%% --- ENFORCEMENT: File is inside project folder ---
projectFolder = st.Project.Filename;
assert(startsWith(destFile, projectFolder) || isfile(destFile), ...
    'Import file must be inside the project folder. Copy it first.');
fprintf('File location check: PASS\n');

%% --- ENFORCEMENT: File extension matches format ---
[~, ~, ext] = fileparts(destFile);
if formatName == "RoadRunner HD Map"
    assert(ext == ".rrhd", 'Expected .rrhd file for RoadRunner HD Map format');
elseif formatName == "OpenDRIVE"
    assert(ext == ".xodr", 'Expected .xodr file for OpenDRIVE format');
end
fprintf('Format check: PASS\n');

%% --- ENFORCEMENT: Build options match RRHD content (MANDATORY for .rrhd) ---
if ext == ".rrhd"
    tempMap = roadrunnerHDMap;
    read(tempMap, destFile);

    % Junction preservation check
    if ~isempty(tempMap.Junctions) && numel(tempMap.Junctions) > 0
        assert(exist('overlapOpts','var') == 1 && overlapOpts.IsEnabled == true ...
            && overlapOpts.PreserveJunctionLanes == true ...
            && overlapOpts.PreserveJunctionShape == true, ...
            'RRHD has %d junctions — you MUST enable PreserveJunctionLanes and PreserveJunctionShape.', ...
            numel(tempMap.Junctions));
        fprintf('Junction preservation check: PASS (%d junctions preserved)\n', numel(tempMap.Junctions));
    end

    % Closed-loop / asphalt check — detect topology cycles (multi-lane or self-loop)
    hasClosedLoop = false;
    lanes = tempMap.Lanes;
    nLanes = numel(lanes);
    laneIDs = cell(1, nLanes);
    for li2 = 1:nLanes, laneIDs{li2} = char(lanes(li2).ID); end
    laneIDSet = containers.Map(laneIDs, num2cell(1:nLanes));
    % BFS from each lane: if we revisit a lane, there's a cycle
    visited = false(1, numel(lanes));
    for startIdx = 1:numel(lanes)
        if visited(startIdx), continue; end
        queue = startIdx; seen = false(1, numel(lanes)); seen(startIdx) = true;
        while ~isempty(queue)
            ci = queue(1); queue(1) = [];
            visited(ci) = true;
            succs = lanes(ci).Successors;
            for si = 1:numel(succs)
                sid = char(succs(si).Reference.ID);
                if laneIDSet.isKey(sid)
                    ni = laneIDSet(sid);
                    if ni == startIdx
                        hasClosedLoop = true; break;
                    end
                    if ~seen(ni), seen(ni) = true; queue(end+1) = ni; end
                end
            end
            if hasClosedLoop, break; end
        end
        if hasClosedLoop, break; end
    end
    if hasClosedLoop
        assert(buildOpts.DetectAsphaltSurfaces == false, ...
            'DetectAsphaltSurfaces must be false for closed-loop maps (fills interior). Set it explicitly.');
        fprintf('Asphalt detection check: PASS (disabled for closed-loop)\n');
    else
        fprintf('Asphalt detection check: PASS (no closed-loop detected)\n');
    end
end

Conventions

• Always specify format name string exactly: "RoadRunner HD Map", "OpenDRIVE"
• Use SOS form for IIR stability (BuildOptions handles this internally)
• Show all file-staging code explicitly (status, fileparts, fullfile, copyfile)
• Use tiledlayout/nexttile for multi-panel figures (not subplot)
• Pin destFile to the project folder path — never use temp or relative paths for import

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