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<!DOCTYPE html>
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<title>esmini user guide – Support / Q&A</title>
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.CodeRay .symbol .content{color:#a60}
.CodeRay .symbol .delimiter{color:#630}
.CodeRay .tag{color:teal}
.CodeRay .tag-special{color:#d70}
.CodeRay .variable{color:#036}
.CodeRay .insert{background:#afa}
.CodeRay .delete{background:#faa}
.CodeRay .change{color:#aaf;background:#007}
.CodeRay .head{color:#f8f;background:#505}
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.CodeRay .delete .delete{color:#800}
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.CodeRay .head .head{color:#f4f}
</style>
</head>
<body class="article toc2 toc-left">
<div id="header">
<div id="toc" class="toc2">
<div id="toctitle">Table of Contents</div>
<ul class="sectlevel1">
<li><a href="#_support_qa">Support / Q&A</a>
<ul class="sectlevel2">
<li><a href="#_file_search_paths">File search paths</a></li>
<li><a href="#_various_issues">Various issues</a></li>
<li><a href="#_further_issues_at_esmini_github_page">Further issues at esmini GitHub page</a></li>
</ul>
</li>
</ul>
</div>
</div>
<div id="content">
<div id="preamble">
<div class="sectionbody">
<div class="sidebarblock main-menu">
<div class="content">
<div class="paragraph">
<p><a href="index.html"><strong>Home</strong></a></p>
</div>
<form id="doc-search-form" action="search.html" method="get" style="margin:0.6rem 0 0 0;">
<input id="doc-search-input" type="search" name="q" placeholder="Search all pages..." style="width:18rem;max-width:100%;" />
<button type="submit">Search</button>
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<details>
<summary class="title">Navigator</summary>
<div class="content">
<div class="paragraph nav-bar">
<p><a href="toc.html">Table of contents</a> | <a href="getting-started.html">Getting started</a> | <a href="tools-overview.html">Tools overview</a> | <a href="use-cases.html">Use cases</a> | <a href="scenario-features.html">Scenario features</a> | <a href="positioning.html">Positioning</a> | <a href="controllers.html">Controllers</a> | <a href="openscenegraph-3d-models.html">OpenSceneGraph and 3D models</a> | <a href="#">Support / Q&A</a> | <a href="command-reference.html">Command reference</a> | <a href="known-deviations.html">Known deviations from standards</a> | <a href="build-guide.html">Build guide</a> | <a href="developers-contributors.html">For esmini developers and contributors</a> | <a href="inner-workings.html">Inner workings</a> | <a href="esmini-lib-programming.html">esmini lib programming</a> | <a href="hello-world-tutorial.html">Hello World programming tutorial</a> | <a href="scenario-construction-tips.html">Scenario construction tips</a> | <a href="run-asam-examples.html">Run ASAM OpenSCENARIO examples</a> | <a href="about-this-document.html">About this document</a> | <a href="version.html">Version</a> | <a href="monolith.html">Single page document</a></p>
</div>
</div>
</details>
</div>
</div>
</div>
</div>
<div class="sect1">
<h2 id="_support_qa">Support / Q&A</h2>
<div class="sectionbody">
<!-- toc disabled -->
<div class="sect2">
<h3 id="_file_search_paths">File search paths</h3>
<div class="paragraph">
<p>The starting point for esmini is usually a specified scenario file. In addition to assets referred to by the scenario and road network, e.g. vehicle and traffic sign 3D models, several config files also needs to be located and processed. This section briefly describes how esmini searches for key files.</p>
</div>
<div class="paragraph">
<p>The default file structure for binaries (applications and libs) and scenario assets is:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code>esmini/
|_ bin/
| |_ esmini
| |_ odrviewer
| |_ replayer
| |_ esminiLib
| |_ esminiRMLib
|_ resources/
|_ traffic_signals/
|_ models/
|_ xodr/
|_ xosc/
|_ xosc/Catalogs/</code></pre>
</div>
</div>
<div class="ulist">
<ul>
<li>
<p><code>bin</code> all executables and shared libraries (esminiLib.so/dll and esminiRMLib.so/dll)</p>
</li>
<li>
<p><code>model_ids.txt</code> a simple mapping of model Id and 3D model file. This is used when replaying <code>.dat</code> files which contains only model ID number instead of full 3D model file path (for bandwidth reasons). NOTE: Deprecated, will be removed. Use <code>model3d</code> attribute instead.</p>
</li>
<li>
<p><code>traffic_signals</code> files mapping road sign ID to OSI type, per country</p>
</li>
<li>
<p><code>models</code> 3D model files and textures</p>
</li>
<li>
<p><code>xodr</code> OpenDRIVE files</p>
</li>
<li>
<p><code>xosc</code> OpenSCENARIO files</p>
</li>
<li>
<p><code>Catalogs</code> OpenSCENARIO catalogs</p>
</li>
</ul>
</div>
<div class="paragraph">
<p>Although esmini supports other folder structures and file locations as well, the above structure is default.</p>
</div>
<div class="paragraph">
<p>esmini supports the following file reference types in OpenSCENARIO and OpenDRIVE files:</p>
</div>
<div class="ulist">
<ul>
<li>
<p>Relative path</p>
<div class="ulist">
<ul>
<li>
<p>example: <code>../xodr/road.xodr</code></p>
</li>
</ul>
</div>
</li>
<li>
<p>Absolute path</p>
<div class="ulist">
<ul>
<li>
<p>example: <code>/tmp/road.xodr</code></p>
</li>
</ul>
</div>
</li>
<li>
<p>Filename</p>
<div class="ulist">
<ul>
<li>
<p>example: <code>road.xodr</code></p>
</li>
</ul>
</div>
</li>
</ul>
</div>
<div class="sect3">
<h4 id="_search_locations">Search locations</h4>
<div class="paragraph">
<p>For each file type esmini will search in a set of locations in a specific order. User can add any number of additional search paths with <code>--path <folder path></code> launch argument, or via API <code>SE_AddPath()</code> function.</p>
</div>
<div class="paragraph">
<p>Specified file path will be added (concatenated) to each search location to form the full file path. If the specified file path includes a path (relative or absolute) two paths will be formed; one including the path and one adding just the filename.</p>
</div>
<div class="paragraph">
<p>Order of search locations:</p>
</div>
<div class="olist arabic">
<ol class="arabic">
<li>
<p>Full path as specified (from current directory if path is relative)</p>
</li>
<li>
<p>Only filename (extracted from specified path), in current directory</p>
</li>
<li>
<p>Location relative to user specified paths</p>
</li>
<li>
<p>Additional special purpose locations depending on file type, see below</p>
</li>
</ol>
</div>
<div class="paragraph">
<p><strong>OpenDRIVE (.xodr)</strong></p>
</div>
<div class="ulist">
<ul>
<li>
<p>Relative scenario file: <code><path_to_xosc>/<specified_path></code></p>
</li>
<li>
<p>Default folder relative executable (or library): <code><path_to_exe>/resources/xodr/<specified_filename></code></p>
</li>
</ul>
</div>
<div class="paragraph">
<p><strong>3D models (.osgb) in OpenSCENARIO file</strong></p>
</div>
<div class="ulist">
<ul>
<li>
<p>Relative scenario file: <code><path_to_xosc>/<specified_path></code></p>
</li>
<li>
<p>Default folder relative executable (or library): <code><path_to_exe>/resources/models/<specified_filename></code></p>
</li>
</ul>
</div>
<div class="paragraph">
<p><strong>3D models (.osgb) in OpenDRIVE file</strong></p>
</div>
<div class="ulist">
<ul>
<li>
<p>Relative opendrive file: <code><path_to_xodr>/<specified_path></code></p>
</li>
<li>
<p>Default folder relative executable (or library): <code><path_to_exe>/resources/models/<specified_filename></code></p>
</li>
</ul>
</div>
<div class="paragraph">
<p><strong>model_ids.txt</strong></p>
</div>
<div class="ulist">
<ul>
<li>
<p>Default location relative executable (or library): <code><path_to_exe>/resources/model_ids.txt</code></p>
</li>
<li>
<p>Relative current directory: <code>./resources/model_ids.txt</code></p>
</li>
</ul>
</div>
<div class="admonitionblock note">
<table>
<tr>
<td class="icon">
<div class="title">Note</div>
</td>
<td class="content">
model_id concept is deprecated and will be removed. <code>model3d</code> attribute being used instead.
</td>
</tr>
</table>
</div>
<div class="paragraph">
<p><strong>traffic_signals</strong></p>
</div>
<div class="ulist">
<ul>
<li>
<p>Default location relative executable (or library): <code><path_to_exe>/resources/traffic_signals/<country code>_traffic_signals.txt</code></p>
</li>
<li>
<p>Relative current directory: <code>./resources/traffic_signals/<country code>_traffic_signals.txt</code></p>
</li>
</ul>
</div>
<div class="paragraph">
<p><strong>Catalogs</strong></p>
</div>
<div class="ulist">
<ul>
<li>
<p>Relative scenario file: <code><path_to_xosc>/<specified_path></code></p>
</li>
<li>
<p>Default location relative executable (or library): <code><path_to_exe>/resources/xosc/Catalogs/<trailing_folder_in_specified_path></code></p>
</li>
</ul>
</div>
</div>
</div>
<div class="sect2">
<h3 id="_various_issues">Various issues</h3>
<div class="sect3">
<h4 id="_resources_not_found">Resources not found</h4>
<div class="paragraph">
<p>Although esmini comes with a default file structure where scenario resources, e.g. vehicle 3D model or controller catalog, needs to be stored, it’s not fixed. Instead, additional search paths can be added by launch argument <code>--path <path></code>. For example:<br></p>
</div>
<div class="paragraph">
<p><code>./bin/esmini --window 60 60 800 400 --osc ./resources/xosc/slow-lead-vehicle.xosc --path ../../ --path c:/tmp/my_models</code></p>
</div>
<div class="paragraph">
<p>will add the relative path <code>../../</code> and absolute path <code>c:/tmp/my_models</code> to the list of places where to look for resources referred to by the scenario.</p>
</div>
</div>
<div class="sect3">
<h4 id="_blocked_by_windows_defender_smartscreen">Blocked by Windows Defender SmartScreen</h4>
<div class="paragraph">
<p>When esmini is downloaded as a zip file from Internet it might be blocked, i.e. prevented from being started, by Windows to protect your system. This is indicated by the following, or similar, message popping up when attempt to start:</p>
</div>
<div class="paragraph">
<p>"Microsoft Defender SmartScreen prevented an unrecognized app from starting. Running this app might put your PC at risk."</p>
</div>
<div class="paragraph">
<p>As long as the zip was downloaded from esmini official GitHub repository (<a href="https://github.com/esmini/esmini" class="bare">https://github.com/esmini/esmini</a>) it is perfectly safe to use.</p>
</div>
<div class="paragraph">
<p>The simplest solution is to unblock the zip file before unpacking it:</p>
</div>
<div class="olist arabic">
<ol class="arabic">
<li>
<p>Right click</p>
</li>
<li>
<p>Click Properties</p>
</li>
<li>
<p>At bottom right, check "Unblock"</p>
</li>
</ol>
</div>
<div class="imageblock">
<div class="content">
<img src="https://github.com/esmini/esmini.github.io/raw/main/images/win-unblock.png" alt="win unblock">
</div>
</div>
<div class="paragraph">
<p>Note: This method also works for individual files after unzipping. But it can only be applied for one file at a time, why it’s simpler to unblock the complete zip before unpacking.</p>
</div>
<div class="paragraph">
<p>It is also possible to unblock from Powershell command line:</p>
</div>
<div class="ulist">
<ul>
<li>
<p>Single file:<br>
<code>Unblock-File esmini-demo_Windows.zip</code></p>
</li>
<li>
<p>Multiple files recursively:<br>
<code>Get-ChildItem -Path esmini-demo_Windows -Recurse | Unblock-File</code></p>
</li>
</ul>
</div>
</div>
<div class="sect3">
<h4 id="_mac_issues_and_limitations">Mac issues and limitations</h4>
<div class="paragraph">
<p>From esmini version 2.26.6 mac executables are universal binaries which means they work on both Intel and Apple Silicon based Macs. Following are some known issues and work arounds:</p>
</div>
<div class="ulist">
<ul>
<li>
<p>Window can’t be located in the upper part of the screen (some systems). If window won’t open, try to adjust the y value (second entry) of the window argument. 60 pixels usually works fine, e.g: <code>./bin/esmini --window 60 60 800 400 --osc ./resources/xosc/cut-in.xosc</code></p>
</li>
<li>
<p>Issue has been reported that when multiple screens are connected esmini just shows a bland window. Currently only solution is to unplug the additional montitors or unplug Mac from dock station.</p>
</li>
<li>
<p>Graphics can not run in separate thread. Hence the <code>--thread</code> launch flag will have no effect.</p>
</li>
<li>
<p>On Mac the zip-package might be put in quarantine, to release it: <code>xattr -d com.apple.quarantine file.zip</code> or even better: <code>xattr -c file.zip</code></p>
</li>
<li>
<p>esmini executables are not signed with a <a href="https://developer.apple.com/developer-id">developer ID</a> - since we simply don’t have one. If you got the package directly from <a href="https://github.com/esmini/esmini/releases">esmini release page on GitHub</a> it is safe to unpack and run.
In order to execute the files you need to do one of following from a terminal in the folder the demo package was extracted:</p>
<div class="ulist">
<ul>
<li>
<p>Remove quarantine flags: <code>xattr -c -r esmini-demo/bin</code>, or</p>
</li>
<li>
<p>Sign executables for use on local machine: <code>codesign -f -s - esmini-demo/bin/*</code></p>
</li>
</ul>
</div>
</li>
</ul>
</div>
</div>
<div class="sect3">
<h4 id="_esmini_in_wsl">esmini in WSL</h4>
<div class="paragraph">
<p>WSL (Windows Subsystem for Linux) is a compatibility layer for running Linux binary executables natively on Windows 10 and Windows 11. This can be a good option for Windows users needing or wanting to run esmini in Linux environment.</p>
</div>
<div class="paragraph">
<p>Unfortunately we get reports of failures running esmini with viewer in WSL, probably related to failed mapping of OpenGL to Windows graphics driver. A workaround might be to enforce software (CPU based) rendering, bypassing the graphics (hardware) driver. This can be done by utilizing the <code>LIBGL_ALWAYS_SOFTWARE</code> environment variable. See <a href="use-cases.html#_software_rendering_no_gfx_hw">View a scenario / Software rendering (no gfx hw)</a> for more info.</p>
</div>
</div>
<div class="sect3">
<h4 id="_openstreetmap_osm_roads_in_esmini">OpenStreetMap (OSM) roads in esmini</h4>
<div class="paragraph">
<p>SUMO comes with a great tool, <a href="https://sumo.dlr.de/docs/netconvert.html">netconvert</a>, that can convert road networks from and to various formats.</p>
</div>
<div class="paragraph">
<p>Prerequisite: Download and install SUMO from <a href="https://sumo.dlr.de/docs/Downloads.php">here</a>.</p>
</div>
<div class="paragraph">
<p>Example: Convert an OSM map to OpenDRIVE for use in esmini:</p>
</div>
<div class="paragraph">
<p><code>netconvert --osm-files city.osm --opendrive-output city.xodr --no-turnarounds</code></p>
</div>
<div class="paragraph">
<p>Preview in odrviewer:</p>
</div>
<div class="paragraph">
<p><code>./bin/odrviewer --window 60 60 800 400 --odr city.xodr</code></p>
</div>
</div>
<div class="sect3">
<h4 id="_update_3d_model_pack">Update 3D model pack</h4>
<div class="paragraph">
<p>Do either:</p>
</div>
<div class="ulist">
<ul>
<li>
<p>remove any <code>resources/models</code> folder</p>
</li>
<li>
<p>from <code>./build</code> folder, run <code>cmake ..</code></p>
</li>
</ul>
</div>
<div class="paragraph">
<p>or</p>
</div>
<div class="ulist">
<ul>
<li>
<p>get the package from <a href="https://www.dropbox.com/scl/fi/3jwz3ie6xkgpga33cbyju/models_with_lights.7z?rlkey=9obptnofidldoagn4154iyntl&st=zxoupatb&dl=1">here</a> and unpack files into <code>./resources/models</code></p>
</li>
</ul>
</div>
</div>
<div class="sect3">
<h4 id="_entity_does_not_appear">Entity does not appear</h4>
<div class="paragraph">
<p>In order to appear in the scenario, without need for AddEntity action, an entity must be represented in the Init section of the Storyboard. Common is to add actions to establish inital position and speed.</p>
</div>
<div class="paragraph">
<p>Example:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code data-lang="xml"><span class="tag"><PrivateAction></span>
<span class="tag"><TeleportAction></span>
<span class="tag"><Position></span>
<span class="tag"><LanePosition</span> <span class="attribute-name">roadId</span>=<span class="string"><span class="delimiter">"</span><span class="content">1</span><span class="delimiter">"</span></span> <span class="attribute-name">laneId</span>=<span class="string"><span class="delimiter">"</span><span class="content">-1</span><span class="delimiter">"</span></span> <span class="attribute-name">offset</span>=<span class="string"><span class="delimiter">"</span><span class="content">0</span><span class="delimiter">"</span></span> <span class="attribute-name">s</span>=<span class="string"><span class="delimiter">"</span><span class="content">50</span><span class="delimiter">"</span></span><span class="tag">/></span>
<span class="tag"></Position></span>
<span class="tag"></TeleportAction></span>
<span class="tag"></PrivateAction></span>
<span class="tag"><PrivateAction></span>
<span class="tag"><LongitudinalAction></span>
<span class="tag"><SpeedAction></span>
<span class="tag"><SpeedActionDynamics</span> <span class="attribute-name">dynamicsShape</span>=<span class="string"><span class="delimiter">"</span><span class="content">step</span><span class="delimiter">"</span></span> <span class="attribute-name">dynamicsDimension</span>=<span class="string"><span class="delimiter">"</span><span class="content">time</span><span class="delimiter">"</span></span> <span class="attribute-name">value</span>=<span class="string"><span class="delimiter">"</span><span class="content">0.0</span><span class="delimiter">"</span></span><span class="tag">/></span>
<span class="tag"><SpeedActionTarget></span>
<span class="tag"><AbsoluteTargetSpeed</span> <span class="attribute-name">value</span>=<span class="string"><span class="delimiter">"</span><span class="content">30.0</span><span class="delimiter">"</span></span><span class="tag">/></span>
<span class="tag"></SpeedActionTarget></span>
<span class="tag"></SpeedAction></span>
<span class="tag"></LongitudinalAction></span>
<span class="tag"></PrivateAction></span></code></pre>
</div>
</div>
</div>
<div class="sect3">
<h4 id="_heading_behavior_in_road_vs_lane_position">Heading behavior in Road vs Lane Position</h4>
<div class="paragraph">
<p>In esmini, the behavior of the two position types <a href="https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.2.0_Model_Documentation/modelDocumentation/content/RoadPosition.html"><code>RoadPosition</code></a> and <a href="https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.2.0_Model_Documentation/modelDocumentation/content/LanePosition.html"><code>LanePosition</code></a> differ in terms of heading.</p>
</div>
<div class="ulist">
<ul>
<li>
<p><code>RoadPosition</code>: When not specified, the heading will align to the direction of the road (s-axis)</p>
</li>
<li>
<p><code>LanePosition</code>: When not specified, the heading will align to the driving direction of the lane</p>
</li>
</ul>
</div>
<div class="paragraph">
<p>In the image below, the white cars are positioned by <code>LanePosition</code> with <code>laneId=-1</code> and <code>laneId=1</code> respectively while the red cars are positioned by <code>RoadPosition</code> with <code>t=-1.5</code> and <code>t=1.5</code> respectively.</p>
</div>
<div class="imageblock">
<div class="content">
<img src="https://github.com/esmini/esmini.github.io/raw/main/images/no-heading.jpg" alt="no heading">
</div>
<div class="title">Positioning with LanePosition (white) and RoadPosition (red) - heading omitted</div>
</div>
<div class="paragraph">
<p>Explicitly specified heading (in <code>Orientation</code> sub-element):</p>
</div>
<div class="ulist">
<ul>
<li>
<p>Absolute heading will be respected and treated in the same way for both position cases</p>
</li>
<li>
<p>Relative heading will be based on the default heading, i.e. road or driving direction respectively.</p>
</li>
</ul>