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Carla Scenario Runner 1.0

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@glopezdiest glopezdiest released this 06 Nov 09:28
· 1 commit to ue58-dev since this release
v1.0
23c4db6

ScenarioRunner 1.0 is compatible with CARLA 1.0 and lives on the ue58-dev branch.

🚀 New Features

  • Scenarios no longer take world. BasicScenario provides the world, the map and the global route planner.
  • OpenSCENARIO 2.0 support is now optional. Every other mode runs without the antlr4 runtime installed.
  • ConstructionObstacle, ConstructionObstacleTwoWays and ParkingExit take their traffic from the config, running an actor flow when given start_actor_flow and end_actor_flow, and slowing the background traffic down when not.

🐛 Bug Fixes

  • npc_agent follows the global plan it is given instead of re-tracing it point by point, which could detour inside a junction and leave the route.
  • manual_control.py runs on CARLA UE5. It no longer sets the RGB camera's removed gamma attribute, and it tracks the ego through the world snapshot.
  • Updated the blueprint ids of the example and route files to ones that exist in CARLA UE5.

👻 Maintenance

  • Requires CARLA 1.0 and py_trees 2.6.0, up from CARLA 0.9.14 and py_trees 0.8.3. The six dependency and the remaining Python 2 compatibility code are gone.
  • Split CarlaDataProvider into smaller pieces: SimulationData (srunner/scenariomanager/simulation_data.py) for the client, world, map, route planner, spawn points and random state, and srunner/tools/actor_factory.py, actor_state.py, map_utils.py and traffic_light_utils.py for the rest. Update any import of srunner.scenariomanager.carla_data_provider.
  • Actor state is no longer cached each tick. Read it from the Python API with actor.get_location() and actor.get_transform(), and get_ground_speed(actor) for the 2D speed. The global actor pool is gone, so every actor is destroyed by whoever created it.
  • Towns are resolved against the maps available on the server, as CARLA UE5 requires exact names, and 0.9.x blueprint ids are translated to their UE5 equivalents.
  • Scenario classes are resolved through srunner/tools/scenario_class_loader.py, so --scenario and --route find the same ones and --additionalScenario is registered once.
  • Regenerated the OpenSCENARIO 2.0 parser with ANTLR 4.9.3, so its runtime matches the 4.9.* pin of common packages such as omegaconf.
  • Removed the ChangeLane, CutIn and HighwayCutIn example configs, and aligned ObjectCrossing's dumpster blocker along the kerb.

Full changelog: https://github.com/carla-simulator/scenario_runner/blob/ue58-dev/Docs/CHANGELOG.md

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