Lanelet2 to RRHD Converter

Lanelet2 to RRHD Converter

Converts Lanelet2 .osm files to RoadRunner HD Map .rrhd format.

When to Use

• Converting a Lanelet2 .osm file to RoadRunner HD Map .rrhd format
• Importing Lanelet2 maps into RoadRunner via MATLAB
• Building RRHD from .osm sources that contain type=lanelet relations
• Need full pipeline: parse, geometry, topology, semantics, junctions, barriers, signs, markings

When NOT to Use

• Input is a standard OpenStreetMap file (highway=* ways without type=lanelet relations)
• Input is OpenDRIVE .xodr — import directly via roadrunner-import-scene
• Building RRHD from scratch without a source file — use roadrunner-rrhd-authoring
• Only need asset path lookups — 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.
• ALL pipeline steps are mandatory. Do NOT stop after writing lanes/boundaries — junctions, curve markings, barriers, signs, and speed limits must all be built.
• Boundary geometry is IMMUTABLE. Never flip, resample, project, or modify boundary points.
• One boundary object per way. Deduplicate via wayToBndID map.
• Detect alignment for EVERY lane. Never hardcode "Forward" for all boundaries.
• Center line density: 1 point per meter minimum. Use max(10, round(avgLen), nLeft, nRight).
• Run enforcement gate before write(). Alignment, spatial, extension, and completeness checks are mandatory.
• No nested function definitions. Code runs in script context — all logic inline or anonymous functions.

Behavior

Generate MATLAB code that performs the conversion pipeline described below. Run it via mcp__matlab__evaluate_matlab_code. No pre-built scripts or addpath calls are needed — Claude generates all code at runtime from these instructions.

MANDATORY: ALL steps must be executed. Do NOT stop after writing lanes/boundaries. The pipeline is incomplete without: junctions, curve markings (stop lines + crosswalks), barriers, signs, and speed limits. Every element found in the OSM MUST appear in the output RRHD.

MANDATORY: Steps 3b and 3c (discovery) must execute IN THE SAME code block as Step 3a. These are not optional post-processing — they are part of parsing. The discovery loop code is inlined below in Step 3. If you skip 3b/3c, the completeness gate in Step 9 will fail with assertion errors.

Scope: This skill supports Lanelet2 OSM only. If the input is a standard OpenStreetMap file (highway=* ways without type=lanelet relations), do NOT attempt conversion. Instead inform the user: "This file appears to be a standard OpenStreetMap road network, not a Lanelet2 map. This skill only supports Lanelet2 OSM → RRHD conversion."

Companion skills (invoke automatically during conversion):