From Terminus to Drake

Once we have generated the files that describe the city, we can use them inside Drake. If you only want to visualize the road network, you can simply open the mesh file using Drake visualizer's "Open data" File menu. The expected result for the simple city example should be as depicted below:

If, on the other hand, you want to use the generated monolane file to navigate a car, you will need to code a small program to do that. In this Drake branch we have created a sample program that uses the simple city monolane and obj files to drive a car through a couple of points (diff here). Below is shown a linked video to the resulting demo: