update automated-testing demo

ika-rwth-aachen · Feb 6, 2024 · 3f146ab · 3f146ab
1 parent ac076da
commit 3f146ab
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Showing 3 changed files with 22 additions and 40 deletions.
diff --git a/automated-testing/evaluate-scenarios.sh b/automated-testing/evaluate-scenarios.sh
@@ -30,24 +30,32 @@ restart-simulator() {
   docker compose -f $COMPOSE_TEMPLATE_PATH up -d carla-simulator
 }
 
-export SCENARIO_DIRECTORY="${1:-"../utils/scenarios"}"
-export COMPOSE_TEMPLATE_PATH="${2:-"./template.yml"}"
-echo $SCENARIO_DIRECTORY
+export SIMULATOR_IMAGE=rwthika/carla-simulator:server
+export SCENARIO_RUNNER_IMAGE=rwthika/carla-scenario-runner:latest
 
-scenarios=($(find $SCENARIO_DIRECTORY -maxdepth 1 -type f -name "*.xosc*" -exec basename {} \;))
+export SCENARIO_FOLDER_PATH=$(realpath ${1:-"../utils/scenarios"})
+export COMPOSE_TEMPLATE_PATH="${2:-"../.github/actions/evaluate-scenario/files/template.yml"}"
+
+echo "Searching for scenarios in $SCENARIO_FOLDER_PATH  ..."
+scenarios=($(find $SCENARIO_FOLDER_PATH -maxdepth 1 -type f -name "*.xosc*" -exec basename {} \;))
 
 if [ ${#scenarios[@]} -eq 0 ]; then
   echo "No scenarios found. Exiting..."
   exit 1
 fi
+
+if [ "$SIMULATOR_OFFSCREEN" = true ]; then
+  export SIMULATOR_FLAGS="-RenderOffScreen"
+fi
+
 xhost +local:
 echo "Starting simulator..."
 docker compose -f $COMPOSE_TEMPLATE_PATH up -d carla-simulator
 
 for scenario in "${scenarios[@]}"; do
   echo "Evaluating $scenario ..."
-
-  export SCENARIO_NAME=$scenario 
+  export SCENARIO_FILE_NAME=$scenario 
+
   docker compose -f $COMPOSE_TEMPLATE_PATH  run --rm carla-scenario-runner || true
 
   if [ "$RESTART_SIMULATOR" = true ]; then

diff --git a/automated-testing/template.yml b/automated-testing/template.yml
diff --git a/utils/scenarios/town10.xosc.opt b/utils/scenarios/town10.xosc.opt
@@ -76,7 +76,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <LanePosition roadId="5" laneId="-1" s="1" offset="0"/>
+                <LanePosition roadId="5" laneId="-1" s="5" offset="0"/>
               </Position>
             </TeleportAction>
           </PrivateAction>
@@ -86,7 +86,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <LanePosition roadId="5" laneId="-2" s="15" offset="0"/>
+                <LanePosition roadId="5" laneId="-2" s="12" offset="0"/>
               </Position>
             </TeleportAction>
           </PrivateAction>
@@ -96,7 +96,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <LanePosition roadId="5" laneId="-1" s="25" offset="0"/>
+                <LanePosition roadId="5" laneId="-1" s="30" offset="0"/>
               </Position>
             </TeleportAction>
           </PrivateAction>
@@ -106,7 +106,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <LanePosition roadId="5" laneId="1" s="50" offset="0"/>
+                <LanePosition roadId="5" laneId="1" s="60" offset="0"/>
               </Position>
             </TeleportAction>
           </PrivateAction>
@@ -116,7 +116,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <LanePosition roadId="5" laneId="2" s="70" offset="0"/>
+                <LanePosition roadId="5" laneId="2" s="75" offset="0"/>
               </Position>
             </TeleportAction>
           </PrivateAction>
@@ -136,7 +136,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <LanePosition roadId="18" laneId="4" s="5" offset="0"/>
+                <LanePosition roadId="18" laneId="4" s="10" offset="0"/>
               </Position>
             </TeleportAction>
           </PrivateAction>
@@ -146,7 +146,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <LanePosition roadId="18" laneId="5" s="5" offset="0"/>
+                <LanePosition roadId="18" laneId="5" s="10" offset="0"/>
               </Position>
             </TeleportAction>
           </PrivateAction>
@@ -166,7 +166,7 @@
           <PrivateAction>
             <TeleportAction>
               <Position>
-                <LanePosition roadId="6" laneId="2" s="8" offset="0"/>
+                <LanePosition roadId="6" laneId="2" s="15" offset="0"/>
               </Position>
             </TeleportAction>
           </PrivateAction>