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Fixed spawning issue of pedestrians on Non-CARLA maps
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Change-Id: If395133f47102adbf88d00c35f814c49c7414eac
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@fabianoboril
fabianoboril committed Mar 12, 2021
1 parent 5465298 commit ba2de6e
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Showing 4 changed files with 39 additions and 18 deletions.
4 changes: 4 additions & 0 deletions Docs/CHANGELOG.md
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Expand Up @@ -14,10 +14,14 @@
### :rocket: New Features
* OpenSCENARIO support:
- Added `--openscenarioparams` argument to overwrite global `ParameterDeclaration`
- Added controller using CARLA's autopilot (in replacement for ActivateControllerAction)
- Added support for storyboards with multiple stories
### :bug: Bug Fixes
* Fixed bug at the Getting Started docs which caused an import error
### :ghost: Maintenance
* Extended SimpleVehicleController (OSC) to handle traffic lights
* Generalized visualizer attached to OSC controllers
* Fixed bug at the Getting Started docs which caused an import error

## CARLA ScenarioRunner 0.9.11
### :rocket: New Features
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2 changes: 2 additions & 0 deletions srunner/scenariomanager/actorcontrols/simple_vehicle_control.py
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Expand Up @@ -54,6 +54,8 @@ class SimpleVehicleControl(BasicControl):
(consider_trafficlights, true/false) - Enable consideration of traffic lights
(max_deceleration, float) - Use a reasonable deceleration value for
this vehicle
(max_acceleration, float) - Use a reasonable acceleration value for
this vehicle
(attach_camera, true/false) - Attach OpenCV display to actor
(useful for debugging)
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10 changes: 9 additions & 1 deletion srunner/scenariomanager/carla_data_provider.py
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Expand Up @@ -593,7 +593,15 @@ def request_new_actors(actor_list):
_spawn_point.rotation = transform.rotation
_spawn_point.location.x = transform.location.x
_spawn_point.location.y = transform.location.y
_spawn_point.location.z = transform.location.z + 0.2
if blueprint.has_tag('walker'):
# On imported OpenDRIVE maps, spawning of pedestrians can fail.
# By increasing the z-value the chances of success are increased.
if not CarlaDataProvider._map.name.startswith('OpenDrive'):
_spawn_point.location.z = transform.location.z + 0.2
else:
_spawn_point.location.z = transform.location.z + 0.8
else:
_spawn_point.location.z = transform.location.z + 0.2

# Get the command
command = SpawnActor(blueprint, _spawn_point)
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41 changes: 24 additions & 17 deletions srunner/scenarios/open_scenario.py
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Expand Up @@ -249,12 +249,14 @@ def _create_behavior(self):
Basic behavior do nothing, i.e. Idle
"""

stories_behavior = py_trees.composites.Parallel(policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name="OSCStories")
stories_behavior = py_trees.composites.Parallel(policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
name="OSCStories")
joint_actor_list = self.other_actors + self.ego_vehicles + [None]

for story in self.config.stories:
story_name = story.get("name")
story_behavior = py_trees.composites.Parallel(policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL, name=story_name)
story_behavior = py_trees.composites.Parallel(policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ALL,
name=story_name)
for act in story.iter("Act"):

act_sequence = py_trees.composites.Sequence(
Expand All @@ -280,7 +282,8 @@ def _create_behavior(self):
for entity in actor.iter("EntityRef"):
entity_name = entity.attrib.get('entityRef', None)
for k, _ in enumerate(joint_actor_list):
if joint_actor_list[k] and entity_name == joint_actor_list[k].attributes['role_name']:
if (joint_actor_list[k] and
entity_name == joint_actor_list[k].attributes['role_name']):
actor_ids.append(k)
break

Expand All @@ -292,7 +295,8 @@ def _create_behavior(self):
# Collect catalog reference maneuvers in order to process them at the same time as normal maneuvers
catalog_maneuver_list = []
for catalog_reference in sequence.iter("CatalogReference"):
catalog_maneuver = OpenScenarioParser.get_catalog_entry(self.config.catalogs, catalog_reference)
catalog_maneuver = OpenScenarioParser.get_catalog_entry(self.config.catalogs,
catalog_reference)
catalog_maneuver_list.append(catalog_maneuver)
all_maneuvers = itertools.chain(iter(catalog_maneuver_list), sequence.iter("Maneuver"))
single_sequence_iteration = py_trees.composites.Parallel(
Expand All @@ -310,14 +314,15 @@ def _create_behavior(self):
if child.tag == "Action":
for actor_id in actor_ids:
maneuver_behavior = OpenScenarioParser.convert_maneuver_to_atomic(
child, joint_actor_list[actor_id], joint_actor_list, self.config.catalogs)
child, joint_actor_list[actor_id],
joint_actor_list, self.config.catalogs)
maneuver_behavior = StoryElementStatusToBlackboard(
maneuver_behavior, "ACTION", child.attrib.get('name'))
parallel_actions.add_child(
oneshot_with_check(variable_name=# See note in get_xml_path
get_xml_path(story, sequence) + '>' + \
get_xml_path(maneuver, child),
behaviour=maneuver_behavior))
oneshot_with_check(variable_name= # See note in get_xml_path
get_xml_path(story, sequence) + '>' + \
get_xml_path(maneuver, child),
behaviour=maneuver_behavior))

if child.tag == "StartTrigger":
# There is always one StartConditions block per Event
Expand All @@ -331,14 +336,14 @@ def _create_behavior(self):
event_sequence.add_child(parallel_actions)
maneuver_parallel.add_child(
oneshot_with_check(variable_name=get_xml_path(story, sequence) + '>' +
get_xml_path(maneuver, event), # See get_xml_path
behaviour=event_sequence))
get_xml_path(maneuver, event), # See get_xml_path
behaviour=event_sequence))
maneuver_parallel = StoryElementStatusToBlackboard(
maneuver_parallel, "MANEUVER", maneuver.attrib.get('name'))
single_sequence_iteration.add_child(
oneshot_with_check(variable_name=get_xml_path(story, sequence) + '>' +
maneuver.attrib.get('name'), # See get_xml_path
behaviour=maneuver_parallel))
maneuver.attrib.get('name'), # See get_xml_path
behaviour=maneuver_parallel))

# OpenSCENARIO refers to Sequences as Scenes in this instance
single_sequence_iteration = StoryElementStatusToBlackboard(
Expand All @@ -351,7 +356,7 @@ def _create_behavior(self):
if sequence_behavior.children:
parallel_sequences.add_child(
oneshot_with_check(variable_name=get_xml_path(story, sequence),
behaviour=sequence_behavior))
behaviour=sequence_behavior))

if parallel_sequences.children:
parallel_sequences = StoryElementStatusToBlackboard(
Expand All @@ -361,7 +366,9 @@ def _create_behavior(self):
start_triggers = act.find("StartTrigger")
if list(start_triggers) is not None:
for start_condition in start_triggers:
parallel_start_criteria = self._create_condition_container(start_condition, story, "StartConditions")
parallel_start_criteria = self._create_condition_container(start_condition,
story,
"StartConditions")
if parallel_start_criteria.children:
start_conditions.add_child(parallel_start_criteria)
end_triggers = act.find("StopTrigger")
Expand All @@ -381,8 +388,8 @@ def _create_behavior(self):
story_behavior.add_child(act_sequence)

stories_behavior.add_child(oneshot_with_check(variable_name=get_xml_path(story, story) + '>' +
story_name, # See get_xml_path
behaviour=story_behavior))
story_name, # See get_xml_path
behaviour=story_behavior))

# Build behavior tree
behavior = py_trees.composites.Parallel(
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