Digital Twin of TFHRC CARLA map is not aligning with that of real life

[MishkaMN]

Summary

Below shows a picture of a pcd map that is used in real-life vehicles (white dots) and the osm map (as referenced in this guide) used in the carma-carla-integration (digital twin, blue map). This osm map aligns well (in terms of offset, but little details such as intersection geometry seems bad, see the comments) with that of CARLA.

As you can see, there is an offset between the two. Consequently, the osm map used in real-live vehicle also don't match the CARLA's map.
This means largely, CARLA's 3d map is not correct and should be corrected to match the real-life one.

Version

4.5.0 (Current)

Expected Behavior

See above

Actual Behavior

See above

Steps to Reproduce the Actual Behavior

1. Follow the guide here: https://usdot-carma.atlassian.net/wiki/spaces/CRMSIM/pages/2419916803/Setup+Instructions+Documentation+CARMA-CARLA+integration
2. Load pcd_map.pcd by downloading from here
3. Pull up rviz to see the difference (above guide should explain how to open rviz as well)

Related Work

No response

[MishkaMN]

On top of this, west intersection geometry is also wrong. here is a video of carma traveling.
https://www.youtube.com/watch?v=n83sNMor2vQ

[MishkaMN]

This intersection geometry issue was originally provided by the HDS team. East intersection:


west intersection:

And they provided a fixed xodr map here, which needs to be converted to osm.
This probably still don't fix the offset problem in the issue description though.