config changes

xil_carma_messenger/VehicleConfigParams.yaml

@@ -94,7 +94,7 @@ vehicle_model_steer_tau : 0.3
 
 # Parameter to enable configurable speed limit
 # Value type: Desired
-config_speed_limit: 20.0
+config_speed_limit: 30.0
 
 # Vehicle Participation Type corresponding to the Lanelet2 participant type standards.
 # Used for interpreting traffic rules in world model instances

xil_carma_messenger/cdasim_config/carma/inlanecruising_config/parameters.yaml

@@ -3,7 +3,7 @@ trajectory_time_length: 6.0 # Trajectory length in seconds
 curve_resample_step_size: 1.0 # Curve re-sampling step size in m
 default_downsample_ratio: 4 # Amount to downsample input lanelet centerline data. Value corresponds to saving each nth point.
 turn_downsample_ratio: 4 # Amount to downsample input lanelet centerline data on turns. Value corresponds to saving each nth point.
-minimum_speed: 0.894 # Minimum allowable speed in m/s
+minimum_speed: 5.0 # Minimum allowable speed in m/s
 # minimum_speed: 5.0 # Minimum allowable speed in m/s
 speed_moving_average_window_size: 5 # Size of the window used in the moving average filter to smooth the output speeds
 curvature_moving_average_window_size: 9 # Size of the window used in the moving average filter to smooth the computed curvature

xil_carma_messenger/docker-compose.yml

@@ -50,6 +50,7 @@ services:
     volumes_from:
       - container:carma-config:ro
     volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
       - /opt/carma/logs/carma_1:/opt/carma/logs
       - /opt/carma/.ros:/home/carma/.ros
       - /opt/carma/vehicle/calibration:/opt/carma/vehicle/calibration
@@ -61,6 +62,13 @@ services:
     environment:
       ROS_IP: 172.3.0.3
       ROS_MASTER_URI: http://172.3.0.2:11311/
+      DISPLAY: ${DISPLAY}
+      QT_X11_NO_MITSHM: 1
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - capabilities: [gpu]
     command: >
       bash -c 'wait-for-it.sh 172.3.0.2:11311 -- roslaunch /opt/carma/vehicle/config/carma_docker.launch'
 
@@ -542,25 +550,6 @@ services:
       --asc3app-path '../evcfile/asc3app-application.zip'
       --traci-ip 172.2.0.2"
 
-  scenario-runner:
-    image: usdotfhwastol/scenario-runner:carma-system-4.5.0
-    container_name: scenario-runner
-    networks:
-      - carma_sim_net
-    depends_on:
-      - carma-simulation
-    volumes:
-      - ./scenario-runner/vru_collision.py:/app/scenario_runner/srunner/scenarios/vru_collision.py
-      - ./scenario-runner/vru_collision.xml:/app/scenario_runner/srunner/examples/vru_collision.xml
-      - ./carla-recorder/:/app/scenario_runner/metrics/data/
-    # sleep is for mainly carma-platform's components to
-    # activate and be ready before scenario starts
-    entrypoint: >
-      bash -c "sleep 30
-      && python3 scenario_runner.py
-      --scenario VulnerableRoadUserCollision_LeftTurn
-      --record metrics/data/
-      --host 172.2.0.2"
 
 networks:
   carma_sim_net: