routing: update routing_map, and added check for Topology node length

modules/map/data/demo/routing_map.txt

@@ -2,8 +2,16 @@ hdmap_version: "03/10/17_22.46.20"
 hdmap_district: ""
 node {
   lane_id: "1_-1"
-  length: 0
-  cost: 0
+  length: 30.347678575236987
+  left_out {
+    start {
+      s: 0
+    }
+    end {
+      s: 30.347678575236987
+    }
+  }
+  cost: 29.203235383821113
   central_curve {
     segment {
       line_segment {
@@ -3140,6 +3148,12 @@ node {
           y: 4140786.2013956155
         }
       }
+      s: 0
+      start_position {
+        x: 586392.84003
+        y: 4140673.01232
+      }
+      length: 30.34767
     }
   }
   is_virtual: false

modules/routing/README.md

@@ -3,9 +3,15 @@
 ## Introduction
   Routing module generates high level navigation information based on request.
 
+  Routing module depends on a routing topology file, usually named `routing_map.*` in apollo.
+  The routing map can be genreated by command
+  ```
+  bash scripts/generate_routing_topo_graph.sh
+  ```
 ## Input
   * Map data
   * Routing request (Start and end location)
 
 ## Output
   * Routing navigation information
+

modules/routing/graph/topo_node.cc

@@ -29,6 +29,7 @@ namespace routing {
 namespace {
 
 const double MIN_INTERNAL_FOR_NODE = 0.01;  // in meter
+const double kLenghtEpsilon = 1e-6;         // in meter
 
 using ::google::protobuf::RepeatedPtrField;
 
@@ -93,6 +94,8 @@ bool TopoNode::IsOutRangeEnough(const std::vector<NodeSRange>& range_vec,
 
 TopoNode::TopoNode(const Node& node)
     : pb_node_(node), start_s_(0.0), end_s_(pb_node_.length()) {
+  CHECK(pb_node_.length() > kLenghtEpsilon) << "Node length is invalid in pb: "
+                                            << pb_node_.DebugString();
   Init();
   origin_node_ = this;
 }

modules/routing/graph/topo_range_test.cc

@@ -95,7 +95,9 @@ TEST(NodeSRangeTestSuit, basic_test) {
 
 TEST(NodeWithRangeTestSuit, basic_test) {
   Node node_1;
+  node_1.set_length(20);
   Node node_2;
+  node_2.set_length(20);
   TopoNode topo_node_1(node_1);
   TopoNode topo_node_2(node_2);
   double start_s_1 = 0.0;