major revision; added interface to dockerized sumo installation

.gitignore

-pathConfig.py
-scenarios/*
+
+build/
+dist/
+
+.vscode
+
+## Video files
+*.mp4
 
 ## Core latex/pdflatex auxiliary files:
 *.aux
@@ -208,7 +214,7 @@ TSWLatexianTemp*
 # build files doc
 tools/Python/commonroad/doc/build/*
 
-# auto folder when using emacs and auctex 
+# auto folder when using emacs and auctex
 /auto/*
 
 # python
@@ -217,3 +223,8 @@ tools/Python/commonroad/doc/build/*
 *pytest_cache/
 *.egg-info
 
+# PyCharm
+*.idea/
+
+tests/outputs/
+src/

MANIFEST.in

+include sumocr/sumo_config/.sumo.cfg
+prune tests*

README.md

 # SUMO - CommonRoad Interface
 
-This package implements the interface between the framework for motion planning of automated vehicles [CommonRoad_io](https://pypi.org/project/commonroad-io/) and the traffic simulator [SUMO](https://sumo.dlr.de). The interface is presented in detail in our [paper](https://mediatum.ub.tum.de/doc/1486856/344641.pdf) [1] and a documentation of the API can be found [here]( https://commonroad.in.tum.de/static/docs/commonroad-sumo-interface/index.html).
+This package implements the interface between the framework for motion planning of automated vehicles [CommonRoad_io](https://pypi.org/project/commonroad-io/) and the traffic simulator [SUMO](https://sumo.dlr.de). The interface is presented in detail in our [paper](https://mediatum.ub.tum.de/doc/1486856/344641.pdf) [1] and a documentation of the API can be found [here](https://commonroad.in.tum.de/static/docs/commonroad-sumo-interface/index.html).
 
 # Prerequisites
-The package is written in Python 3.6 and tested on Linux.
+
+The package is written in Python 3.7 and tested on Linux.
 Install required packages:
-```console
+
+```bash
 cd sumo-interface
 pip install -r requirements.txt
 sudo apt-get install ffmpeg
@@ -15,80 +17,79 @@ And add the absolute path of `commonroad-sumo-interface` to your Python interpre
 
 ## Install SUMO
 
-Clone a customized version of SUMO for smooth lane changes from https://github.com/mo-kli/sumo and check out branch `smooth-lane-change`.
-For installation we recommend building with:
+Clone a customized version of SUMO for smooth lane changes from https://github.com/octavdragoi/sumo and check out branch `smooth-lane-change`.
+For installation we recommend building with (tested with Ubuntu 18.04):
 
-```
+```bash
 sudo apt-get install cmake python g++ libxerces-c-dev libfox-1.6-dev libgdal-dev libproj-dev libgl2ps-dev swig
 cd sumo
 export SUMO_HOME="$PWD/sumo"
-mkdir build && cd build
+cd build
 cmake ..
 make -j8
 ```
 
 More options on the installation can be found here: https://sumo.dlr.de/wiki/Installing/Linux_Build .
 
-## Configure SUMO and local environment
-copy the file `pathConfig_DEFAULT.py` and rename it to `pathConfig.py`. Add local paths, if required.
+# Integrating the SUMO-interface with CommonRoad
 
-# Integrating the SUMO-interface into CommonRoad
 - All scenarios are stored in `/scenarios`. All files for each scenario must be named consistently with the same scenario name as the folder.
-- the default config file with all options for the simulation can be found in `/config/default.py`.
+- the default config file with all options for the simulation can be found in `/config/default.py`. All Scenario specific configs inherit from it.
+
+## Install as Library
+
+This package can be manually installed by running:
+
+```bash
+pip install .
+```
+
+Then imported with:
+
+```python
+import sumocr # OR
+from sumocr.interface.sumo_simulation import SumoSimulation
+```
+
+## Configure SUMO and local environment
+
+To run the library the environment variable `$SUMO_HOME` needs to be defined in the running context.
 
 ## Convert maps
-Before using the interface, a map needs to be available in CommonRoad xml and SUMO's .net.xml format. Currently only the conversion from .net.xml to commonroad format is implemented. For an example see `example_scripts/create_scenario_files.py`.
 
-## Create .rou.xml files
+Before using the interface, a map needs to be available SUMO's `.net.xml` format, with a corresponding `.sumo.cfg` file.
+These files can be optionally generated using the converter in
+[crmapconverter](https://gitlab.lrz.de/cps/commonroad-map-tool/).
+For an example see: `example_files/minimal_example.py`
+
+<!-- This is now in crmapconverter -->
+<!-- ## Create .rou.xml files
+
 .rou.xml files specify all vehicles for the simulation. An introduction can be found here: https://sumo.dlr.de/wiki/Tutorials/quick_start#Traffic_demand.
 To use the interface for planning with ego vehicles, the vehicle ID in the .rou.xml file needs to start with the prefix `egoVehicle`.
 A simple script to create .rou.xml files using https://sumo.dlr.de/wiki/Tools/Trip is implemented in the function
-`ScenarioWrapper.recreate_route_file()`. See `example_scripts/create_scenario_files.py` for an example.
+`ScenarioWrapper.recreate_route_file()`. See `example_scripts/create_scenario_files.py` for an example. -->
 
 ## Configure SUMO and sumo-interface
+
 To use smooth lane changes, add
-~~~~
+
+```xml
 <processing>
 	<time-to-teleport value="-1"/>
 	<lanechange-output value="output_lanechange.txt"/>
 	<lanechange.duration value="10"/>
 	<lanechange.smooth-change value="1"/>
 </processing>
-~~~~
-to the .sumo.cfg file of the scenario (activated by default for scenarios generated by the class `ScenarioWrapper`).
-
-Further options for the interface can be found in the sumo-interface config file `sumo-interface/config/default.py`.
-
-## Minimal example for using the interface:
-The file `example_scripts/minimal_example.py` gives an example how the interface can be integrated into an existing trajectory planner.
-Plug in a trajectory planner and run:
-```python
-from sumo2cr.interface.sumo_simulation import SumoSimulation
-from sumo2cr.visualization.video import create_video
-from scenarios.a9.scenario_config import Conf as conf
-
-sumo_sim = SumoSimulation()
-sumo_sim.initialize(conf)
-
-output_folder = "/path/to/output_folder"
+```
 
-for t in range(conf.simulation_steps):
-    ego_vehicles = sumo_sim.ego_vehicles
-    commonroad_scenario = sumo_sim.commonroad_scenario_at_time_step(sumo_sim.current_time_step)
+to the `.sumo.cfg` file of the scenario (activated by default for scenarios generated by the class `ScenarioWrapper`).
 
-    # plan trajectories for all ego vehicles
-    for id, ego_vehicle in ego_vehicles.items():
-        current_state = ego_vehicle.current_state
-        ego_trajectory =  # plug in trajectory planner here
-        ego_vehicle.set_planned_trajectory(ego_trajectory)
+Further options for the interface can be found in the sumo-interface config file `config/default.py`.
 
-    sumo_sim.simulate_step()
+## Minimal example for using the interface:
 
-sumo_sim.stop()
-create_video(sumo_sim, conf.video_start, conf.video_end, output_folder)
-```
+The file `example_scripts/minimal_example.py` gives an example how the interface can be integrated into an existing trajectory planner.
 
-## Troubleshooting
-*    `Error: No option with the name 'lanechange.smooth-change' exists.`: Make SUMO is installed correctly and the SUMO_HOME variable is set to the path where SUMO is installed. If you don't want to use the continous lane change, delete the corresponding line from the *.cfg file.
 
-[1] Moritz Klischat, Octav Dragoi, Mostafa Eissa, and Matthias Althoff, Coupling SUMO with a Motion Planning Framework for Automated Vehicles, SUMO 2019: Simulating Connected Urban Mobility
+[1] _Moritz Klischat, Octav Dragoi, Mostafa Eissa, and Matthias Althoff, Coupling SUMO with a Motion Planning Framework for Automated Vehicles, SUMO 2019: Simulating Connected Urban Mobility_
\ No newline at end of file

example_scripts/create_scenario_files.py → example_scripts/local/create_scenario_files.py

@@ -2,51 +2,47 @@
 Converts net.xml to Commonroad xml files and creates rou files for simulation.
 """
 
+import os
 import matplotlib.pyplot as plt
 from typing import List
+
 from commonroad.visualization.draw_dispatch_cr import draw_object
-from sumo2cr.maps.sumo_scenario import ScenarioWrapper
 from commonroad.common.util import Interval
 from commonroad.scenario.trajectory import State
-import os
+
+from sumocr.maps.sumo_scenario import ScenarioWrapper
+
+from scenarios.a9.scenario_config import Conf as conf
 
 __author__ = "Moritz Klischat"
 __copyright__ = "TUM Cyber-Physical Systems Group"
 __credits__ = ["ZIM Projekt ZF4086007BZ8"]
-__version__ = "1.0.0"
+__version__ = "2021.1"
 __maintainer__ = "Moritz Klischat"
 __email__ = "commonroad-i06@in.tum.de"
 __status__ = "Released"
 
-scenario_folder = os.path.join(os.path.dirname(__file__),'../scenarios')
+scenario_folder = os.path.join(os.path.dirname(__file__), '../scenarios')
 
-net_file = os.path.join(scenario_folder, 'a9/a9.net.xml')
-sumo_cfg_file = os.path.join(scenario_folder, 'a9/a9.sumo.cfg')
+net_file = os.path.join(scenario_folder, 'a9', 'a9.net.xml')
+sumo_cfg_file = os.path.join(scenario_folder, 'a9', 'a9.sumo.cfg')
 
 # parameters
-dt = 0.1
 convert_map = True
-n_vehicles_max:int = 30
-veh_per_second = 50
-n_ego_vehicles:int = 1
-ego_ids:List[int] = []
-initial_states:List[State] = []
-ego_start_time:int=10
-departure_time_ego = 3
-departure_interval_vehicles = Interval(0,20)
+cr_map_path = None  # if no cr map file is specified, a cr map will be automatically converted by opendrive
 
 if convert_map:
-    # generate commonroad map + rou file + cfg file
-    scenario = ScenarioWrapper.full_conversion_from_net(net_file, dt, n_vehicles_max, n_ego_vehicles, ego_ids, ego_start_time, departure_time_ego, departure_interval_vehicles,veh_per_second)
+    # generate commonroad map + add file + rou file + cfg file
+    scenario = ScenarioWrapper.init_from_net_file(net_file, cr_map_path, conf)
 else:
     # generate rou file
-    scenario = ScenarioWrapper.recreate_route_file(sumo_cfg_file, dt, n_vehicles_max, n_ego_vehicles, ego_ids, ego_start_time, departure_time_ego, departure_interval_vehicles,veh_per_second)
+    scenario = ScenarioWrapper.recreate_route_file(sumo_cfg_file, conf)
 
 plt.figure(figsize=(25, 25))
 draw_object(scenario.lanelet_network)
 
 plt.autoscale()
 plt.axis('equal')
-plt.xlim([290,380])
-plt.ylim([195,250])
+plt.xlim([290, 380])
+plt.ylim([195, 250])
 plt.show()
\ No newline at end of file

example_scripts/minimal_example.py

 """
 Minimal example, plugging in of trajectory planner required.
 """
-from sumo2cr.interface.sumo_simulation import SumoSimulation
-from sumo2cr.visualization.video import create_video
-from scenarios.a9.scenario_config import Conf as conf
+import copy
+import os
+from typing import List
+
+from commonroad.scenario.trajectory import State
+from commonroad.common.file_reader import CommonRoadFileReader
+from commonroad.common.file_writer import CommonRoadFileWriter
+
+from sumocr.interface.sumo_simulation import SumoSimulation
+from sumocr.maps.sumo_scenario import ScenarioWrapper
+from sumocr.visualization.video import create_video
+
+from scenarios.garching.scenario_config import Conf
+
 
 __author__ = "Moritz Klischat"
 __copyright__ = "TUM Cyber-Physical Systems Group"
 __credits__ = ["ZIM Projekt ZF4086007BZ8"]
-__version__ = "1.0.0"
+__version__ = "2021.1"
 __maintainer__ = "Moritz Klischat"
 __email__ = "commonroad-i06@in.tum.de"
 __status__ = "Released"
 
-sumo_sim = SumoSimulation()
-sumo_sim.initialize(conf)
+config = Conf()
+cr_file = os.path.abspath(
+    os.path.join(os.path.dirname(__file__), '..', 'scenarios',
+                 config.scenario_name, config.scenario_name + '.cr.xml'))
+
+# Change this as you see fit
+output_folder = os.path.dirname(cr_file)
+print("Reading file:", cr_file, " Outputing to folder:", output_folder)
 
-output_folder = "/path/to/output_folder"
+scenario, _ = CommonRoadFileReader(cr_file).open()
+wrapper = ScenarioWrapper.init_from_scenario(config, cr_map_file=cr_file)
 
-for t in range(conf.simulation_steps):
+
+##
+## SIMULATION
+##
+sumo_sim = SumoSimulation()
+sumo_sim.initialize(config, wrapper)
+
+for t in range(config.simulation_steps):
     ego_vehicles = sumo_sim.ego_vehicles
-    commonroad_scenario = sumo_sim.commonroad_scenario_at_time_step(sumo_sim.current_time_step)
+    commonroad_scenario = sumo_sim.commonroad_scenario_at_time_step(
+        sumo_sim.current_time_step)
 
     # plan trajectories for all ego vehicles
     for id, ego_vehicle in ego_vehicles.items():
         current_state = ego_vehicle.current_state
-        ego_trajectory =  # plug in a trajectory planner here
+
+        # plug in a trajectory planner here, currently staying on initial state
+        next_state = copy.deepcopy(current_state)
+        next_state.time_step = 1
+        ego_trajectory: List[State] = [next_state]
+
         ego_vehicle.set_planned_trajectory(ego_trajectory)
 
     sumo_sim.simulate_step()
 
 sumo_sim.stop()
 
-create_video(sumo_sim, conf.video_start, conf.video_end, output_folder)
+##
+## WRITE TO FILE
+##
+print("Done simulating")
+simulated_scenario = sumo_sim.commonroad_scenarios_all_time_steps()
+CommonRoadFileWriter(simulated_scenario,
+                     None,
+                     author=scenario.author,
+                     affiliation=scenario.affiliation,
+                     source=scenario.source,
+                     tags=scenario.tags,
+                     location=scenario.location).write_scenario_to_file(
+                         os.path.join(
+                             output_folder,
+                             config.scenario_name + ".simulated.xml"),
+                         overwrite_existing_file=True)
 
+# create_video(sumo_sim, config.video_start, config.video_end, output_folder)

example_scripts/simulate_on_commonroad_map.py

+"""
+Tutorial script, which
+-converts a CommonRoad (cr) lanelet_network from an .xml file to a sumo net file .net.xml,
+-creates rou files and an additional configuration file for sumo simulation,
+-uses net file and rou file to start a sumo simulation with an ego vehicle.
+"""
+import argparse
+import os
+import sys
+
+from commonroad.common.file_reader import CommonRoadFileReader
+
+from sumocr.maps.sumo_scenario import ScenarioWrapper
+from sumocr.interface.sumo_simulation import SumoSimulation
+from sumocr.maps.util import get_scenario_name_from_crfile
+from sumocr.sumo_config import DefaultConfig
+from sumocr.visualization.video import create_video
+
+
+__author__ = "Peter Kocsis"
+__copyright__ = "TUM Cyber-Physical System Group"
+__credits__ = []
+__version__ = "0.1"
+__maintainer__ = "Moritz Klischat"
+__email__ = "moritz.klischat@tum.de"
+__status__ = "Integration"
+
+
+def simulate_map_argsparser() -> argparse.ArgumentParser:
+    """Returns a parser for the script's arguments"""
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "-i", "--input_scenario", type=str,
+        default="./scenarios/DEU_A9-1_1_T-1/DEU_A9-1_1_T-1.cr.xml",
+        help="Path to the CommonRoad scenario"
+    )
+    parser.add_argument(
+        "-o", "--output", type=str, default=None, help="Output folder path",
+    )
+    parser.add_argument(
+        "-v", "--video", action="store_true", default=False, help="Create video",
+    )
+    return parser
+
+
+def simulate_cr_map(cr_scenario_file: str, output_folder_path: str = None, creating_video: bool = False):
+
+    assert not creating_video or output_folder_path is not None, \
+        "The output folder path was not defined for video creation"
+
+    if output_folder_path is None:
+        output_folder_path = os.path.dirname(cr_scenario_file)
+
+    conf = DefaultConfig()
+    conf.scenario_name = get_scenario_name_from_crfile(cr_scenario_file)
+    conf.n_ego_vehicles = 0
+    conf.ego_ids = []
+    conf.scenarios_path = output_folder_path
+
+    # convert commonroad xml to sumo net file, then generate add file + rou file + cfg file
+    scenario_wrapper = ScenarioWrapper.init_from_cr_file(cr_scenario_file, conf)
+
+    # start sumo simulation with ego vehicles
+    sumo_sim = SumoSimulation()
+    sumo_sim.initialize(conf, scenario_wrapper=scenario_wrapper)
+
+    for t in range(conf.simulation_steps):
+        sumo_sim.simulate_step()
+
+    sumo_sim.stop()
+
+    if creating_video:
+        print(f"Creating video {cr_scenario_file}")
+        create_video(sumo_sim, conf.video_start, conf.video_end, output_folder_path)
+        print(f"Video {cr_scenario_file} created")
+
+
+if __name__ == '__main__':
+    arguments = simulate_map_argsparser().parse_args(sys.argv[1:])
+    simulate_cr_map(cr_scenario_file=arguments.input_scenario,
+                    output_folder_path=arguments.output,
+                    creating_video=arguments.video)

pathConfig_DEFAULT.py

-'''
- Copy this file and rename to path_config.py, afterwards set paths according to your local configuration
-'''
-
-# set installation locations
-SUMO_GUI_BINARY = '/usr/bin/sumo-gui'
-# path to binary of adapted sumo repository (see readme)
-SUMO_BINARY = '/home/user/sumo/bin/sumo'
-
-# by default port 8873 is used, you can modify the port number
-TRACI_PORT = 8873
-
-# default files (no adaption required)
-DEFAULT_CFG_FILE = 'sumo_config/.sumo.cfg'
\ No newline at end of file

requirements.txt

-commonroad-io>=2019.2
-opendrive2lanelet>=1.2.0
+numpy>=1.13
+lxml>=4.2.2
+Pillow>=7.0.0
+commonroad-io>=2021.1
+# docker_sumo
+shapely==1.7.0
+opendrive2lanelet==1.1.0
+grpcio==1.27.2
+docker>=4.2.0
+packaging>=20.3
+ffmpeg==1.4
+matplotlib>=3.3.3
+ipython

scenarios/a9/a9.net.xml

-<?xml version="1.0" encoding="UTF-8"?>
-
-<!-- generated on Tue Apr  9 09:42:51 2019 by Eclipse SUMO netconvert Version 1.1.0
-<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
-
-    <input>
-        <osm-files value="a9_half.osm"/>
-    </input>
-
-    <output>
-        <output-file value="a9.net.xml"/>
-    </output>
-
-    <projection>
-        <proj.utm value="true"/>
-    </projection>
-
-</configuration>
--->
-
-<net version="1.1" junctionCornerDetail="5" limitTurnSpeed="5.50" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
-
-    <location netOffset="-691600.34,-5363834.90" convBoundary="0.00,0.00,225.33,2328.92" origBoundary="11.589690,48.398466,11.591668,48.419466" projParameter="+proj=utm +zone=32 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/>
-
-    <type id="highway.bridleway" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.bus_guideway" priority="1" numLanes="1" speed="27.78" allow="bus" oneway="1"/>
-    <type id="highway.cycleway" priority="1" numLanes="1" speed="8.33" allow="bicycle" oneway="0" width="1.00"/>
-    <type id="highway.footway" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.ford" priority="1" numLanes="1" speed="2.78" allow="army" oneway="0"/>
-    <type id="highway.living_street" priority="3" numLanes="1" speed="2.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.motorway" priority="13" numLanes="2" speed="44.44" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" oneway="1"/>
-    <type id="highway.motorway_link" priority="12" numLanes="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" oneway="1"/>
-    <type id="highway.path" priority="1" numLanes="1" speed="2.78" allow="bicycle pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.pedestrian" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.primary" priority="9" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.primary_link" priority="8" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.raceway" priority="14" numLanes="2" speed="83.33" allow="vip" oneway="0"/>
-    <type id="highway.residential" priority="4" numLanes="1" speed="13.89" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.secondary" priority="7" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.secondary_link" priority="6" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.service" priority="2" numLanes="1" speed="5.56" allow="delivery bicycle pedestrian" oneway="0"/>
-    <type id="highway.stairs" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.step" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.steps" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
-    <type id="highway.tertiary" priority="6" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.tertiary_link" priority="5" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.track" priority="1" numLanes="1" speed="5.56" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.trunk" priority="11" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric bicycle pedestrian ship" oneway="0"/>
-    <type id="highway.trunk_link" priority="10" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric bicycle pedestrian ship" oneway="0"/>
-    <type id="highway.unclassified" priority="5" numLanes="1" speed="13.89" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="highway.unsurfaced" priority="1" numLanes="1" speed="8.33" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
-    <type id="railway.light_rail" priority="15" numLanes="1" speed="27.78" allow="rail_urban" oneway="1"/>
-    <type id="railway.preserved" priority="15" numLanes="1" speed="27.78" allow="rail" oneway="1"/>
-    <type id="railway.rail" priority="15" numLanes="1" speed="83.33" allow="rail rail_electric" oneway="1"/>
-    <type id="railway.subway" priority="15" numLanes="1" speed="27.78" allow="rail_urban" oneway="1"/>
-    <type id="railway.tram" priority="15" numLanes="1" speed="13.89" allow="tram" oneway="1"/>
-
-    <edge id="135586672" from="285950480" to="2469933641" priority="13" type="highway.motorway" spreadType="center" shape="225.33,0.00 197.88,71.39 183.54,107.76 168.89,146.90 141.29,240.08 127.21,292.11 115.01,347.57 103.22,402.06 93.47,455.43 76.70,572.92 70.47,636.13 68.01,693.26 40.85,1387.15 15.62,1875.01 3.14,2259.73 0.00,2328.92">
-        <lane id="135586672_0" index="0" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="83.33" length="2351.74" shape="229.81,1.72 202.35,73.14 188.02,109.48 173.44,148.42 145.91,241.38 131.87,293.25 119.70,348.59 107.93,403.00 98.21,456.20 81.46,573.49 75.26,636.47 72.80,693.46 45.65,1387.37 20.42,1875.21 7.94,2259.91 4.80,2329.14"/>
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-        <lane id="135586672_2" index="2" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="83.33" length="2351.74" shape="223.84,-0.57 196.39,70.81 182.04,107.19 167.37,146.39 139.75,239.64 125.66,291.72 113.44,347.23 101.65,401.75 91.89,455.17 75.11,572.72 68.87,636.02 66.41,693.19 39.26,1387.08 14.02,1874.94 1.54,2259.66 -1.60,2328.85"/>
-        <lane id="135586672_3" index="3" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" speed="83.33" length="2351.74" shape="220.85,-1.72 193.41,69.65 179.05,106.04 164.33,145.37 136.67,238.77 122.55,290.96 110.32,346.55 98.51,401.12 88.73,454.66 71.93,572.34 65.68,635.79 63.21,693.06 36.06,1386.93 10.83,1874.80 -1.66,2259.54 -4.80,2328.70"/>
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scenarios/a9/a9.rou.alt.xml

-<?xml version="1.0" encoding="UTF-8"?>
-
-<!-- generated on Tue Apr  9 16:49:51 2019 by Eclipse SUMO duarouter Version 1.1.0
-<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/duarouterConfiguration.xsd">
-
-    <input>
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-        <route-files value="/home/klischat/GIT_REPOS/sumo-interface/scenarios/a9/a9.trips.xml"/>
-    </input>
-
-    <output>
-        <output-file value="/home/klischat/GIT_REPOS/sumo-interface/scenarios/a9/a9.rou.xml"/>
-        <alternatives-output value="/home/klischat/GIT_REPOS/sumo-interface/scenarios/a9/a9.rou.alt.xml"/>
-    </output>
-
-    <time>
-        <begin value="0.0"/>
-        <end value="20.0"/>
-    </time>
-
-    <report>
-        <no-warnings value="true"/>
-        <ignore-errors value="true"/>
-        <no-step-log value="true"/>
-    </report>
-
-</configuration>
--->
-
-<routes xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/routes_file.xsd">
-    <vehicle id="0" depart="0.00" departLane="free" departPos="base" departSpeed="random">
-        <routeDistribution last="0">
-            <route cost="42.33" probability="1.00000000" edges="135586672"/>
-        </routeDistribution>
-    </vehicle>
-    <vehicle id="1" depart="0.59" departLane="free" departPos="base" departSpeed="random">
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-            <route cost="42.33" probability="1.00000000" edges="135586672"/>
-        </routeDistribution>
-    </vehicle>
-    <vehicle id="2" depart="1.18" departLane="free" departPos="base" departSpeed="random">
-        <routeDistribution last="0">
-            <route cost="42.33" probability="1.00000000" edges="135586672"/>
-        </routeDistribution>
-    </vehicle>
-    <vehicle id="3" depart="1.76" departLane="free" departPos="base" departSpeed="random">
-        <routeDistribution last="0">
-            <route cost="42.33" probability="1.00000000" edges="135586672"/>
-        </routeDistribution>
-    </vehicle>
-    <vehicle id="4" depart="2.35" departLane="free" departPos="base" departSpeed="random">
-        <routeDistribution last="0">
-            <route cost="42.33" probability="1.00000000" edges="135586672"/>
-        </routeDistribution>
-    </vehicle>
-    <vehicle id="5" depart="2.94" departLane="free" departPos="base" departSpeed="random">
-        <routeDistribution last="0">
-            <route cost="42.33" probability="1.00000000" edges="135586672"/>
-        </routeDistribution>
-    </vehicle>
-    <vehicle id="6" depart="3.53" departLane="free" departPos="base" departSpeed="random">
-        <routeDistribution last="0">
-            <route cost="42.33" probability="1.00000000" edges="135586672"/>
-        </routeDistribution>
-    </vehicle>
-    <vehicle id="7" depart="4.12" departLane="free" departPos="base" departSpeed="random">
-        <routeDistribution last="0">
-            <route cost="42.33" probability="1.00000000" edges="135586672"/>
-        </routeDistribution>
-    </vehicle>
-    <vehicle id="8" depart="4.71" departLane="free" departPos="base" departSpeed="random">
-        <routeDistribution last="0">
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-        </routeDistribution>
-    </vehicle>
-    <vehicle id="9" depart="5.29" departLane="free" departPos="base" departSpeed="random">
-        <routeDistribution last="0">