Repository: ucla-mobility/OpenCDA (language: python)

Issue:
Develop
The development branch is nearly ready for the formal version v0.1 except for some part of the documentation still needs to be proofread. 


Discussion / hints:

Fix patch:
diff --git a/opencda/assets/2lane_freeway_simplified/2lane_freeway_simplified.net.xml b/opencda/assets/2lane_freeway_simplified/2lane_freeway_simplified.net.xml
index 5cbecdfa..b41857e5 100644
--- a/opencda/assets/2lane_freeway_simplified/2lane_freeway_simplified.net.xml
+++ b/opencda/assets/2lane_freeway_simplified/2lane_freeway_simplified.net.xml
@@ -1,14 +1,14 @@
 <?xml version='1.0' encoding='UTF-8'?>
-<!-- generated on 2021-07-19 15:29:09 by Eclipse SUMO netconvert Version 1.9.2
+<!-- generated on 2021-07-24 21:24:41 by Eclipse SUMO netconvert Version 1.9.2
 <configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
 
     <input>
-        <type-files value="/home/runshengxu/carla/Co-Simulation/Sumo/util/data/opendrive_netconvert.typ.xml"/>
-        <opendrive-files value="../examples/2lane_freeway_simplified.xodr"/>
+        <type-files value="/home/runshengxu/project/OpenCDA/scripts/data/opendrive_netconvert.typ.xml"/>
+        <opendrive-files value="opencda/assets/2lane_freeway_simplified/2lane_freeway_simplified.xodr"/>
     </input>
 
     <output>
-        <output-file value="/tmp/tmpxc0su5ae/2lane_freeway_simplified.net.xml"/>
+        <output-file value="/tmp/tmp5_huiap9/2lane_freeway_simplified.net.xml"/>
         <output.original-names value="true"/>
     </output>
 
@@ -39,116 +39,87 @@
 </configuration>
 -->
 <net xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" version="1.9" junctionCornerDetail="5" rectangularLaneCut="true" limitTurnSpeed="5.50" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
-  <location netOffset="1204.72,456.54" convBoundary="0.00,0.00,2831.71,453.54" origBoundary="-1204.72,-456.54,1626.99,-3.00" projParameter="!"/>
-  <type id="bidirectional" priority="1" speed="1.39" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-  <type id="biking" priority="-1" speed="5.56" allow="bicycle" width="1.50"/>
-  <type id="border" priority="0" speed="1.39" disallow="all" discard="1" width="0.10"/>
-  <type id="driving" priority="1" speed="13.89" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-  <type id="entry" priority="1" speed="22.22" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-  <type id="exit" priority="1" speed="22.22" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-  <type id="median" priority="0" speed="1.39" disallow="all" discard="1" width="0.10"/>
-  <type id="mwyEntry" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-  <type id="mwyExit" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-  <type id="none" priority="0" speed="1.39" disallow="all" discard="1" width="1.00"/>
-  <type id="offRamp" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-  <type id="onRamp" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-  <type id="parking" priority="1" speed="1.39" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="2.50"/>
-  <type id="rail" priority="3" speed="33.33" allow="rail_urban rail rail_electric rail_fast" width="3.65"/>
-  <type id="restricted" priority="0" speed="13.89" disallow="all" width="3.65"/>
-  <type id="roadWorks" priority="0" speed="1.39" allow="authority" width="3.65"/>
-  <type id="shoulder" priority="0" speed="1.39" disallow="all" discard="1" width="1.00"/>
-  <type id="sidewalk" priority="-2" speed="2.78" allow="pedestrian" width="2.50"/>
-  <type id="special1" priority="1" speed="22.22" allow="custom1" discard="1" width="3.65"/>
-  <type id="special2" priority="1" speed="22.22" allow="custom2" discard="1" width="3.65"/>
-  <type id="special3" priority="1" speed="22.22" allow="custom1 custom2" discard="1" width="3.65"/>
-  <type id="stop" priority="1" speed="13.89" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-  <type id="tram" priority="2" speed="13.89" allow="tram" width="3.65"/>
+  <location netOffset="1204.72,456.54" convBoundary="0.00,0.00,2836.67,453.54" origBoundary="-1204.72,-456.54,1631.95,-3.00" projParameter="!"/>
   <edge id=":1_0" function="internal">
-    <lane id=":1_0_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="31.31" length="16.98" width="3.66" shape="1188.16,441.22 1191.54,442.45 1195.04,443.46 1199.24,444.14 1204.72,444.39">
+    <lane id=":1_0_0" index="0" speed="31.31" length="16.98" width="3.66" shape="1188.16,441.22 1191.54,442.45 1195.04,443.46 1199.24,444.14 1204.72,444.39">
       <param key="origId" value="67_-1"/>
     </lane>
   </edge>
   <edge id=":1_1" function="internal">
-    <lane id=":1_1_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="33.53" length="9.90" width="3.66" shape="1194.82,448.05 1204.72,448.05">
+    <lane id=":1_1_0" index="0" speed="33.53" length="9.90" width="3.66" shape="1194.82,448.05 1204.72,448.05">
       <param key="origId" value="68_-2"/>
     </lane>
-    <lane id=":1_1_1" index="1" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="33.53" length="9.90" width="3.66" shape="1194.82,451.71 1204.72,451.71">
+    <lane id=":1_1_1" index="1" speed="33.53" length="9.90" width="3.66" shape="1194.82,451.71 1204.72,451.71">
       <param key="origId" value="68_-1"/>
     </lane>
   </edge>
   <edge id=":2_0" function="internal">
-    <lane id=":2_0_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="6.02" length="5.58" width="3.66" shape="1623.10,444.39 1625.25,444.32 1626.85,444.10 1627.89,443.73 1628.37,443.21">
+    <lane id=":2_0_0" index="0" speed="6.02" length="5.58" width="3.66" shape="1623.10,444.39 1625.25,444.32 1626.85,444.10 1627.89,443.73 1628.37,443.21">
       <param key="origId" value="65_-1"/>
     </lane>
   </edge>
-  <edge id=":2_1" function="internal">
-    <lane id=":2_1_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="33.53" length="9.06" width="3.66" shape="1623.10,448.05 1632.16,448.05">
-      <param key="origId" value="66_-2"/>
-    </lane>
-    <lane id=":2_1_1" index="1" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="33.53" length="9.06" width="3.66" shape="1623.10,451.71 1632.16,451.71">
-      <param key="origId" value="66_-1"/>
-    </lane>
-  </edge>
   <edge id="-60.0.00" from="1" to="2" priority="1" type="driving" shape="1204.72,453.54 1623.10,453.54">
-    <lane id="-60.0.00_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="33.53" length="418.37" width="3.66" shape="1204.72,444.39 1623.10,444.39" type="driving">
+    <lane id="-60.0.00_0" index="0" speed="33.53" length="418.37" width="3.66" shape="1204.72,444.39 1623.10,444.39" type="driving">
       <param key="origId" value="60_-3"/>
     </lane>
-    <lane id="-60.0.00_1" index="1" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="33.53" length="418.37" width="3.66" shape="1204.72,448.05 1623.10,448.05" type="driving">
+    <lane id="-60.0.00_1" index="1" speed="33.53" length="418.37" width="3.66" shape="1204.72,448.05 1623.10,448.05" type="driving">
       <param key="origId" value="60_-2"/>
     </lane>
-    <lane id="-60.0.00_2" index="2" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="33.53" length="418.37" width="3.66" shape="1204.72,451.71 1623.10,451.71" type="driving">
+    <lane id="-60.0.00_2" index="2" speed="33.53" length="418.37" width="3.66" shape="1204.72,451.71 1623.10,451.71" type="driving">
       <param key="origId" value="60_-1"/>
     </lane>
   </edge>
   <edge id="-61.0.00" from="61.begin" to="1" priority="1" type="driving" shape="2.00,0.00 1187.52,442.93">
-    <lane id="-61.0.00_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="31.29" length="1265.57" width="3.66" shape="2.64,-1.71 1188.16,441.22" type="driving">
+    <lane id="-61.0.00_0" index="0" speed="31.29" length="1265.57" width="3.66" shape="2.64,-1.71 1188.16,441.22" type="driving">
       <param key="origId" value="61_-1"/>
     </lane>
   </edge>
-  <edge id="-62.0.00" from="2" to="62.end" priority="1" type="driving" shape="1631.71,453.54 2831.71,453.54">
-    <lane id="-62.0.00_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="33.53" length="1199.56" width="3.66" shape="1632.16,448.05 2831.71,448.05" type="driving">
+  <edge id="-62.0.00" from="4" to="3" priority="1" type="driving">
+    <lane id="-62.0.00_0" index="0" speed="33.53" length="1200.00" width="3.66" shape="1631.69,448.05 2831.69,448.05" type="driving">
       <param key="origId" value="62_-2"/>
     </lane>
-    <lane id="-62.0.00_1" index="1" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="33.53" length="1199.56" width="3.66" shape="1632.16,451.71 2831.71,451.71" type="driving">
+    <lane id="-62.0.00_1" index="1" speed="33.53" length="1200.00" width="3.66" shape="1631.69,451.71 2831.69,451.71" type="driving">
       <param key="origId" value="62_-1"/>
     </lane>
   </edge>
   <edge id="-63.0.00" from="63.begin" to="1" priority="1" type="driving" shape="0.00,453.54 1200.00,453.54">
-    <lane id="-63.0.00_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="33.53" length="1194.82" width="3.66" shape="0.00,448.05 1194.82,448.05" type="driving">
+    <lane id="-63.0.00_0" index="0" speed="33.53" length="1194.82" width="3.66" shape="0.00,448.05 1194.82,448.05" type="driving">
       <param key="origId" value="63_-2"/>
     </lane>
-    <lane id="-63.0.00_1" index="1" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="33.53" length="1194.82" width="3.66" shape="0.00,451.71 1194.82,451.71" type="driving">
+    <lane id="-63.0.00_1" index="1" speed="33.53" length="1194.82" width="3.66" shape="0.00,451.71 1194.82,451.71" type="driving">
       <param key="origId" value="63_-1"/>
     </lane>
   </edge>
   <edge id="-64.0.00" from="2" to="64.end" priority="1" type="driving" shape="1629.16,446.58 1629.23,446.39">
-    <lane id="-64.0.00_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="39.44" length="0.20" width="3.66" shape="1628.37,443.21 1628.43,443.02" type="driving">
+    <lane id="-64.0.00_0" index="0" speed="39.44" length="0.20" width="3.66" shape="1628.37,443.21 1628.43,443.02" type="driving">
       <param key="origId" value="64_-1"/>
     </lane>
   </edge>
+  <edge id="-69.0.00" from="2" to="69.end" priority="1" type="driving" shape="2831.67,453.54 2836.67,453.54">
+    <lane id="-69.0.00_0" index="0" speed="33.53" length="2.13" width="3.66" shape="2834.55,448.05 2836.67,448.05" type="driving">
+      <param key="origId" value="69_-2"/>
+    </lane>
+    <lane id="-69.0.00_1" index="1" speed="33.53" length="2.13" width="3.66" shape="2834.55,451.71 2836.67,451.71" type="driving">
+      <param key="origId" value="69_-1"/>
+    </lane>
+  </edge>
   <junction id="1" type="priority" x="1196.05" y="448.21" incLanes="-61.0.00_0 -63.0.00_0 -63.0.00_1" intLanes=":1_0_0 :1_1_0 :1_1_1" shape="1204.72,453.54 1204.72,442.56 1201.26,442.53 1198.68,442.40 1196.57,442.10 1194.50,441.56 1192.06,440.72 1188.80,439.51 1187.52,442.93 1190.17,443.94 1192.25,444.76 1193.75,445.40 1194.68,445.86 1195.04,446.13 1194.82,446.22 1194.82,453.54">
     <request index="0" response="000" foes="000" cont="0"/>
     <request index="1" response="000" foes="000" cont="0"/>
     <request index="2" response="000" foes="000" cont="0"/>
   </junction>
-  <junction id="2" type="priority" x="1627.41" y="450.06" incLanes="-60.0.00_0 -60.0.00_1 -60.0.00_2" intLanes=":2_0_0 :2_1_0 :2_1_1" shape="1632.16,453.54 1632.16,446.22 1631.04,441.01 1627.58,439.84 1623.10,442.56 1623.10,453.54">
-    <request index="0" response="000" foes="000" cont="0"/>
-    <request index="1" response="000" foes="000" cont="0"/>
-    <request index="2" response="000" foes="000" cont="0"/>
+  <junction id="2" type="priority" x="1627.40" y="450.06" incLanes="-60.0.00_0 -60.0.00_1 -60.0.00_2" intLanes=":2_0_0" shape="2834.55,453.54 2834.55,446.22 1631.04,441.01 1627.58,439.84 1623.10,442.56 1623.10,453.54">
+    <request index="0" response="0" foes="0" cont="0"/>
   </junction>
+  <junction id="3" type="dead_end" x="2831.69" y="453.54" incLanes="-62.0.00_0 -62.0.00_1" intLanes="" shape="2831.69,446.22 2831.69,453.54"/>
+  <junction id="4" type="dead_end" x="1631.69" y="453.54" incLanes="" intLanes="" shape="1631.69,453.54 1631.69,446.22"/>
   <junction id="61.begin" type="dead_end" x="2.00" y="0.00" incLanes="" intLanes="" shape="2.00,-0.00 3.28,-3.43"/>
-  <junction id="62.end" type="dead_end" x="2831.71" y="453.54" incLanes="-62.0.00_0 -62.0.00_1" intLanes="" shape="2831.71,446.22 2831.71,453.54"/>
   <junction id="63.begin" type="dead_end" x="0.00" y="453.54" incLanes="" intLanes="" shape="0.00,453.54 0.00,446.22"/>
   <junction id="64.end" type="dead_end" x="1629.23" y="446.39" incLanes="-64.0.00_0" intLanes="" shape="1625.76,445.22 1629.23,446.39"/>
+  <junction id="69.end" type="dead_end" x="2836.67" y="453.54" incLanes="-69.0.00_0 -69.0.00_1" intLanes="" shape="2836.67,446.22 2836.67,453.54"/>
   <connection from="-60.0.00" to="-64.0.00" fromLane="0" toLane="0" via=":2_0_0" dir="r" state="M">
     <param key="origId" value="65_-1"/>
   </connection>
-  <connection from="-60.0.00" to="-62.0.00" fromLane="1" toLane="0" via=":2_1_0" dir="s" state="M">
-    <param key="origId" value="66_-2"/>
-  </connection>
-  <connection from="-60.0.00" to="-62.0.00" fromLane="2" toLane="1" via=":2_1_1" dir="s" state="M">
-    <param key="origId" value="66_-1"/>
-  </connection>
   <connection from="-61.0.00" to="-60.0.00" fromLane="0" toLane="0" via=":1_0_0" dir="s" state="M">
     <param key="origId" value="67_-1"/>
   </connection>
@@ -162,6 +133,4 @@
   <connection from=":1_1" to="-60.0.00" fromLane="0" toLane="1" dir="s" state="M"/>
   <connection from=":1_1" to="-60.0.00" fromLane="1" toLane="2" dir="s" state="M"/>
   <connection from=":2_0" to="-64.0.00" fromLane="0" toLane="0" dir="r" state="M"/>
-  <connection from=":2_1" to="-62.0.00" fromLane="0" toLane="0" dir="s" state="M"/>
-  <connection from=":2_1" to="-62.0.00" fromLane="1" toLane="1" dir="s" state="M"/>
 </net>
diff --git a/opencda/assets/2lane_freeway_simplified/2lane_freeway_simplified.rou.xml b/opencda/assets/2lane_freeway_simplified/2lane_freeway_simplified.rou.xml
index 6e0ef779..b66f4f9b 100644
--- a/opencda/assets/2lane_freeway_simplified/2lane_freeway_simplified.rou.xml
+++ b/opencda/assets/2lane_freeway_simplified/2lane_freeway_simplified.rou.xml
@@ -4,7 +4,7 @@
 <routes>
     <vType id="vType_0" minGap="2.00" speedFactor="normc(1.00,0.00)" vClass="passenger" carFollowModel="IDMM" tau="0.6"/>
     <vType id="DEFAULT_VEHTYPE" minGap="2.50" tau="1.0"  color="255,255,255" Class="passenger" accel="0.5"/>
-     <flow id="flow_0" begin="0.00" departLane="1" departSpeed="15" departPos="-320" from="-63.0.00" to="-62.0.00" via="-60.0.00" end="4800.00" vehsPerHour="1000.00" type="DEFAULT_VEHTYPE"/>
-     <flow id="flow_1" begin="0.2" departLane="0" departSpeed="15" departPos="-320" from="-63.0.00" to="-62.0.00" via="-60.0.00" end="4800.00" vehsPerHour="1000.00" type="DEFAULT_VEHTYPE"/>
+     <flow id="flow_0" begin="0.00" departLane="1" departSpeed="15" departPos="-320" from="-63.0.00" to="-60.0.00" via="-60.0.00" end="4800.00" vehsPerHour="1000.00" type="DEFAULT_VEHTYPE"/>
+     <flow id="flow_1" begin="0.2" departLane="0" departSpeed="15" departPos="-320" from="-63.0.00" to="-60.0.00" via="-60.0.00" end="4800.00" vehsPerHour="1000.00" type="DEFAULT_VEHTYPE"/>
 
 </routes>
\ No newline at end of file
diff --git a/opencda/assets/2lane_freeway_simplified/2lane_freeway_simplified.xodr b/opencda/assets/2lane_freeway_simplified/2lane_freeway_simplified.xodr
index 3cc9f6f8..041a27c8 100644
--- a/opencda/assets/2lane_freeway_simplified/2lane_freeway_simplified.xodr
+++ b/opencda/assets/2lane_freeway_simplified/2lane_freeway_simplified.xodr
@@ -88,11 +88,12 @@
     </road>
     <road name="gneE5" length="1200" id="62" junction="-1">
         <link>
-            <predecessor elementType="junction" elementId="2"/>
+            <predecessor elementType="junction" elementId="4"/>
+            <successor elementType="junction" elementId="3"/>
         </link>
         <type s="0" type="town"/>
         <planView>
-            <geometry s="0.00000000" x="426.99172801" y="-3.0" hdg="0.00000000" length="1200">
+            <geometry s="0.00000000" x="426.97" y="-3.0" hdg="0.00000000" length="1200">
                 <line/>
             </geometry>
         </planView>
@@ -105,7 +106,7 @@
                 <center>
                     <lane id="0" type="none" level="true">
                         <link/>
-                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13" laneChange="none"/>
+                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13" laneChange="both"/>
                     </lane>
                 </center>
                 <right>
@@ -118,7 +119,7 @@
                     <lane id="-2" type="driving" level="true">
                         <link/>
                         <width sOffset="0" a="3.6576" b="0" c="0" d="0"/>
-                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13" laneChange="none"/>
+                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13" laneChange="both"/>
                         <speed sOffset="0" max="33.53"/>
                     </lane>
                  </right>
@@ -203,6 +204,47 @@
         <objects/>
         <signals/>
     </road>
+    <road name="gneE6" length="5.0" id="69" junction="-1">
+        <link>
+            <predecessor elementType="junction" elementId="2"/>
+        </link>
+        <type s="0" type="town"/>
+        <planView>
+            <geometry s="0.00000000" x="1626.95" y="-3.0" hdg="0.00000000" length="5.0">
+                <line/>
+            </geometry>
+        </planView>
+        <elevationProfile>
+            <elevation s="0" a="0.00" b="0" c="0" d="0"/>
+        </elevationProfile>
+        <lateralProfile/>
+        <lanes>
+            <laneSection s="0">
+                <center>
+                    <lane id="0" type="none" level="true">
+                        <link/>
+                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13" laneChange="both"/>
+                    </lane>
+                </center>
+                <right>
+                    <lane id="-1" type="driving" level="true">
+                        <link/>
+                        <width sOffset="0" a="3.6576" b="0" c="0" d="0"/>
+                        <roadMark sOffset="0" type="broken" weight="standard" color="standard" width="0.13" laneChange="both"/>
+                        <speed sOffset="0" max="33.53"/>
+                    </lane>
+                    <lane id="-2" type="driving" level="true">
+                        <link/>
+                        <width sOffset="0" a="3.6576" b="0" c="0" d="0"/>
+                        <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13" laneChange="both"/>
+                        <speed sOffset="0" max="33.53"/>
+                    </lane>
+                 </right>
+            </laneSection>
+        </lanes>
+        <objects/>
+        <signals/>
+    </road>
 
     <road name="gneJ6_0" length="6.28738509" id="65" junction="2">
         <link>
@@ -250,7 +292,7 @@
         </link>
         <type s="0" type="town"/>
         <planView>
-            <geometry s="0.00000000" x="418.3729844599999" y="-3.0" hdg="0.00000000" length="8.61874355">
+            <geometry s="0.00000000" x="418.372" y="-3.0" hdg="0.00000000" length="8.61874355">
                 <line/>
             </geometry>
         </planView>
@@ -263,7 +305,7 @@
                 <center>
                     <lane id="0" type="none" level="true">
                         <link/>
-                        <roadMark sOffset="0" type="none" weight="standard" color="standard" width="0.00" laneChange="none"/>
+                        <roadMark sOffset="0" type="none" weight="standard" color="standard" width="0.00" laneChange="both"/>
                     </lane>
                 </center>
                 <right>
@@ -388,6 +430,14 @@
             <laneLink from="-2" to="-2"/>
         </connection>
     </junction>
+
+    <junction name="8433034436" id="4">
+        <connection id="2" incomingRoad="66" connectingRoad="62" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+            <laneLink from="-2" to="-2"/>
+        </connection>
+    </junction>
+
     <junction name="8433034435" id="1">
         <connection id="0" incomingRoad="61" connectingRoad="67" contactPoint="start">
             <laneLink from="-1" to="-1"/>
@@ -397,4 +447,12 @@
             <laneLink from="-2" to="-2"/>
         </connection>
     </junction>
+
+    <junction name="8433034434" id="3">
+        <connection id="0" incomingRoad="62" connectingRoad="69" contactPoint="start">
+            <laneLink from="-1" to="-1"/>
+            <laneLink from="-2" to="-2"/>
+        </connection>
+    </junction>
+
 </OpenDRIVE>


Test patch:
diff --git a/opencda/scenario_testing/config_yaml/single_2lanefree_cosim.yaml b/opencda/scenario_testing/config_yaml/single_2lanefree_cosim.yaml
index 508d6d8c..106afe7e 100644
--- a/opencda/scenario_testing/config_yaml/single_2lanefree_cosim.yaml
+++ b/opencda/scenario_testing/config_yaml/single_2lanefree_cosim.yaml
@@ -99,7 +99,7 @@ scenario:
       # this parameter will overwrite the spawn position, when it is set, the vehicle is spawn
       # at the merging lane. 0.5 means it is spawn at the middle of the whole merging lange.
       # spawn_special: [0.34]
-      destination: [700, 4.8, 0.3]
+      destination: [700, 8.3, 0.3]
       v2x:
         <<: *base_v2x
         communication_range: 45
diff --git a/opencda/scenario_testing/utils/customized_map_api.py b/opencda/scenario_testing/utils/customized_map_api.py
index 03fff4a4..75a76a6c 100644
--- a/opencda/scenario_testing/utils/customized_map_api.py
+++ b/opencda/scenario_testing/utils/customized_map_api.py
@@ -72,11 +72,11 @@ def spawn_helper_2lanefree(carla_map, coefficient):
     """
 
     all_deafault_spawn = carla_map.get_spawn_points()
-    transform_point = all_deafault_spawn[11]
+    transform_point = all_deafault_spawn[13]
     transform_point.location.x = transform_point.location.x + coefficient * \
-        (all_deafault_spawn[2].location.x - all_deafault_spawn[11].location.x)
+        (all_deafault_spawn[2].location.x - all_deafault_spawn[13].location.x)
     transform_point.location.y = transform_point.location.y + coefficient * \
-        (all_deafault_spawn[2].location.y - all_deafault_spawn[11].location.y)
+        (all_deafault_spawn[2].location.y - all_deafault_spawn[13].location.y)
 
     return transform_point