Compatibility with CARLA 0.10

Docs/CHANGELOG.md

@@ -12,7 +12,11 @@
 * [CARLA ScenarioRunner 0.9.5](#carla-scenariorunner-095)
 * [CARLA ScenarioRunner 0.9.2](#carla-scenariorunner-092)
 
-## Upcoming
+
+## CARLA ScenarioRunner 0.10
+* Updated the scenarios to match the limitations of CARLA 0.10. This means moving them to Town10HD_Opt and updating the blueprints to the available ones.
+* Added Scenic examples to the repo, and updated the [available ones in their repo](https://github.com/BerkeleyLearnVerify/Scenic/tree/main/examples/carla/Carla_Challenge) to match the new release.
+
 * Improvements to the CarlaDataProvider:
  - Added `spawn_actor` for a blueprint based actor creation similar to `World.spawn_actor`
 

manual_control.py

@@ -202,8 +202,6 @@ def destroy(self):
             if sensor is not None:
                 sensor.stop()
                 sensor.destroy()
-        if self.player is not None:
-            self.player.destroy()
 
 
 # ==============================================================================

requirements.txt

@@ -1,14 +1,14 @@
 py-trees==0.8.3
-numpy==1.18.4; python_version >= '3.0'
-networkx==2.2
-Shapely==1.7.1
+numpy==1.24.4; python_version >= '3.0'
+networkx
+Shapely
 psutil
 xmlschema==1.0.18
 ephem
 tabulate
-opencv-python==4.2.0.32
+opencv-python
 matplotlib
 six
-simple-watchdog-timer
-antlr4-python3-runtime==4.10
+antlr4-python3-runtime
 graphviz
+xmlschema

srunner/examples/BlockedIntersection.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<scenarios>
+    <scenario name="BlockedIntersection_1" type="BlockedIntersection" town="Town10HD_Opt">
+        <ego_vehicle x="0.7" y="28.1" z="0" yaw="0" model="vehicle.lincoln.mkz"/>
+        <direction value='right'/>
+    </scenario> 
+    <scenario name="BlockedIntersection_2" type="BlockedIntersection" town="Town10HD_Opt">
+        <ego_vehicle x="-104" y="61" z="0" yaw="-90" model="vehicle.lincoln.mkz"/>
+        <direction value='right'/>
+    </scenario>
+</scenarios>
+

srunner/examples/ConstructionObstacle.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<scenarios>
+    <scenario name="ConstructionObstacle_1" type="ConstructionObstacle" town="Town10HD_Opt">
+        <ego_vehicle x="-24.4" y="-57.8" z="0" yaw="0" model="vehicle.lincoln.mkz"/>
+        <start_actor_flow x="-27.0" y="-61.1" z="0"/>
+        <end_actor_flow x="59.3" y="-61.1" z="0"/>
+        <direction value='right'/>
+        <distance value='50'/>
+        <flow_speed value="6"/>
+        <source_dist_interval from="10" to="60"/>
+    </scenario>
+    <!-- ConstructionObstacle_2 means to illustrate that it can be used to make the ego cross into a opposite lane -->
+    <scenario name="ConstructionObstacle_2" type="ConstructionObstacle" town="Town10HD_Opt">
+        <ego_vehicle x="62.7" y="-64.6" z="0" yaw="180" model="vehicle.lincoln.mkz"/>
+        <start_actor_flow x="-27.0" y="-61.1" z="0"/>
+        <end_actor_flow x="59.3" y="-61.1" z="0"/>
+        <direction value='right'/>
+        <distance value='50'/>
+        <flow_speed value="6"/>
+        <source_dist_interval from="50" to="100"/>
+    </scenario>
+</scenarios>
+

srunner/examples/ControlLoss.xml

@@ -1,48 +1,6 @@
 <?xml version="1.0"?>
 <scenarios>
-    <scenario name="ControlLoss_1" type="ControlLoss" town="Town01">
-        <ego_vehicle x="392.5" y="195" z="0.5" yaw="90" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_2" type="ControlLoss" town="Town01">
-        <ego_vehicle x="-2.0" y="160" z="0.5" yaw="90" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_3" type="ControlLoss" town="Town01">
-        <ego_vehicle x="168.9" y="59.8" z="0.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_4" type="ControlLoss" town="Town02">
-        <ego_vehicle x="27" y="110" z="0.22" yaw="0" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_5" type="ControlLoss" town="Town02">
-        <ego_vehicle x="54.8" y="307.2" z="0.22" yaw="0" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_6" type="ControlLoss" town="Town02">
-        <ego_vehicle x="57.4" y="191.7" z="0.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_7" type="ControlLoss" town="Town03">
-        <ego_vehicle x="15" y="207.5" z="2" yaw="0" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_8" type="ControlLoss" town="Town03">
-        <ego_vehicle x="-74" y="-12" z="0.1" yaw="270" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_9" type="ControlLoss" town="Town03">
-        <ego_vehicle x="-85.1" y="-87.4" z="0.3" yaw="89" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_10" type="ControlLoss" town="Town04">
-        <ego_vehicle x="218.4" y="193" z="0" yaw="338" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_11" type="ControlLoss" town="Town04">
-        <ego_vehicle x="-40.4" y="-229.5" z="0" yaw="131" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_12" type="ControlLoss" town="Town04">
-        <ego_vehicle x="-45" y="37.2" z="11" yaw="0" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_13" type="ControlLoss" town="Town05">
-        <ego_vehicle x="90.9" y="-66" z="0" yaw="67" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_14" type="ControlLoss" town="Town05">
-        <ego_vehicle x="-54.7" y="110.9" z="0.1" yaw="90" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="ControlLoss_15" type="ControlLoss" town="Town05">
-        <ego_vehicle x="119.1" y="-142.7" z="0.1" yaw="-170" model="vehicle.lincoln.mkz_2017" />
+    <scenario name="ControlLoss_1" type="ControlLoss" town="Town10HD_Opt">
+        <ego_vehicle x="-17" y="140" z="0.5" yaw="0" model="vehicle.lincoln.mkz" />
     </scenario>
 </scenarios>

srunner/examples/OppositeVehicleRunningRedLight.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<scenarios>
+    <scenario name="OppositeVehicleRunningRedLight_1" type="OppositeVehicleRunningRedLight" town="Town10HD_Opt">
+        <ego_vehicle x="23.1" y="13.0" z="0" yaw="180" model="vehicle.lincoln.mkz" />
+    </scenario>
+</scenarios>

srunner/examples/ParkingExit.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<scenarios>
+    <scenario name="ParkingExit_1" type="ParkingExit" town="Town10HD_Opt">
+        <ego_vehicle x="46.7" y="13.4" z="0" yaw="180" model="vehicle.lincoln.mkz"/>
+        <start_actor_flow x="81.8" y="13.4" z="0"/>
+        <end_actor_flow x="14.5" y="13.4" z="0"/>
+        <front_vehicle_distance value="9"/>
+        <behind_vehicle_distance value="9"/>
+        <flow_speed value="5"/>
+        <flow_distance value="20"/>
+    </scenario> 
+    <scenario name="ParkingExit_2" type="ParkingExit" town="Town10HD_Opt">
+        <ego_vehicle x="-104" y="61" z="0" yaw="-90" model="vehicle.lincoln.mkz"/>
+        <direction value='right'/>
+    </scenario>
+</scenarios>
+

srunner/examples/SignalizedJunctionLeftTurn.xml

@@ -1,21 +1,8 @@
 <?xml version="1.0"?>
 <scenarios>
-    <scenario name="SignalizedJunctionLeftTurn_1" type="SignalizedJunctionLeftTurn" town="Town03">
-        <ego_vehicle x="-133.7" y="137.4" z="0.2" yaw="0" model="vehicle.lincoln.mkz_2017" />
-     </scenario>
-    <scenario name="SignalizedJunctionLeftTurn_2" type="SignalizedJunctionLeftTurn" town="Town04">
-        <ego_vehicle x="202.8" y="-209.8" z="0.3" yaw="270" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="SignalizedJunctionLeftTurn_3" type="SignalizedJunctionLeftTurn" town="Town04">
-        <ego_vehicle x="274.1" y="-246.2" z="0.3" yaw="0" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="SignalizedJunctionLeftTurn_4" type="SignalizedJunctionLeftTurn" town="Town05">
-        <ego_vehicle x="-145.5" y="-1" z="0.3" yaw="180" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="SignalizedJunctionLeftTurn_5" type="SignalizedJunctionLeftTurn" town="Town05">
-        <ego_vehicle x="-76.5" y="-0.8" z="0.3" yaw="180" model="vehicle.lincoln.mkz_2017" />
-    </scenario>
-    <scenario name="SignalizedJunctionLeftTurn_6" type="SignalizedJunctionLeftTurn" town="Town05">
-        <ego_vehicle x="76.4" y="83" z="0.3" yaw="157" model="vehicle.lincoln.mkz_2017" />
+    <scenario name="SignalizedJunctionLeftTurn_1" type="SignalizedJunctionLeftTurn" town="Town10HD_Opt">
+        <ego_vehicle x="10" y="16.9" z="0.0" yaw="180" model="vehicle.lincoln.mkz" />
+        <flow_speed value="10"/>
+        <source_dist_interval from="15" to="50"/>
     </scenario>
 </scenarios>

srunner/examples/StaticCutIn.xml

@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<scenarios>
+    <scenario name="StaticCutIn_1" type="StaticCutIn" town="Town10HD_Opt">
+        <ego_vehicle x="-24" y="-61" z="0" yaw="0" model="vehicle.lincoln.mkz"/>
+        <direction value='right'/>
+        <distance value='50'/>
+    </scenario>
+</scenarios>
+

srunner/examples/VehicleOpensDoor.xml

@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <scenarios>
     <scenario name="VehicleOpensDoorTwoWays_1" type="VehicleOpensDoorTwoWays" town="Town10HD_Opt">
-        <ego_vehicle x="-19.4" y="69.5" z="0.3" yaw="0" model="vehicle.lincoln.mkz_2017" />
-        <direction value="right"/>
+        <ego_vehicle x="84.4" y="124.1" z="0.3" yaw="150" model="vehicle.lincoln.mkz" />
+        <distance value="50"/>
+        <frequency from="25" to="90"/>
     </scenario>
 </scenarios>

srunner/scenariomanager/carla_data_provider.py

@@ -610,21 +610,6 @@ def check_attribute_value(blueprint, name, value):
 
             return False
 
-        _actor_blueprint_categories = {
-            'car': 'vehicle.tesla.model3',
-            'van': 'vehicle.volkswagen.t2',
-            'truck': 'vehicle.carlamotors.carlacola',
-            'trailer': '',
-            'semitrailer': '',
-            'bus': 'vehicle.volkswagen.t2',
-            'motorbike': 'vehicle.kawasaki.ninja',
-            'bicycle': 'vehicle.diamondback.century',
-            'train': '',
-            'tram': '',
-            'pedestrian': 'walker.pedestrian.0001',
-	    'misc': 'static.prop.streetbarrier'
-        }
-
         # Set the model
         try:
             blueprints = CarlaDataProvider._blueprint_library.filter(model)
@@ -634,13 +619,7 @@ def check_attribute_value(blueprint, name, value):
 
             blueprint = CarlaDataProvider._rng.choice(blueprints)
         except ValueError:
-            # The model is not part of the blueprint library. Let's take a default one for the given category
-            bp_filter = "vehicle.*"
-            new_model = _actor_blueprint_categories[actor_category]
-            if new_model != '':
-                bp_filter = new_model
-            print("WARNING: Actor model {} not available. Using instead {}".format(model, new_model))
-            blueprint = CarlaDataProvider._rng.choice(CarlaDataProvider._blueprint_library.filter(bp_filter))
+            raise ValueError("Actor model {} not available".format(model))
 
         # Set the color
         if color:

srunner/scenariomanager/scenario_manager.py

@@ -20,7 +20,7 @@
 from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
 from srunner.scenariomanager.result_writer import ResultOutputProvider
 from srunner.scenariomanager.timer import GameTime
-from srunner.scenariomanager.watchdog import Watchdog
+# from srunner.scenariomanager.watchdog import Watchdog
 
 
 class ScenarioManager(object):
@@ -54,7 +54,7 @@ def __init__(self, debug_mode=False, sync_mode=False, timeout=2.0):
         self._debug_mode = debug_mode
         self._agent = None
         self._sync_mode = sync_mode
-        self._watchdog = None
+        # self._watchdog = None
         self._timeout = timeout
 
         self._running = False
@@ -81,9 +81,9 @@ def cleanup(self):
         This function triggers a proper termination of a scenario
         """
 
-        if self._watchdog is not None:
-            self._watchdog.stop()
-            self._watchdog = None
+        # if self._watchdog is not None:
+        #     self._watchdog.stop()
+        #     self._watchdog = None
 
         if self.scenario is not None:
             self.scenario.terminate()
@@ -121,8 +121,8 @@ def run_scenario(self):
         self.start_system_time = time.time()
         start_game_time = GameTime.get_time()
 
-        self._watchdog = Watchdog(float(self._timeout))
-        self._watchdog.start()
+        # self._watchdog = Watchdog(float(self._timeout))
+        # self._watchdog.start()
         self._running = True
 
         while self._running:
@@ -156,7 +156,7 @@ def _tick_scenario(self, timestamp):
         if self._timestamp_last_run < timestamp.elapsed_seconds and self._running:
             self._timestamp_last_run = timestamp.elapsed_seconds
 
-            self._watchdog.update()
+            # self._watchdog.update()
 
             if self._debug_mode:
                 print("\n--------- Tick ---------\n")
@@ -182,15 +182,17 @@ def _tick_scenario(self, timestamp):
             if self.scenario_tree.status != py_trees.common.Status.RUNNING:
                 self._running = False
 
-        if self._sync_mode and self._running and self._watchdog.get_status():
+        # if self._sync_mode and self._running and self._watchdog.get_status():
+        if self._sync_mode and self._running:
             CarlaDataProvider.get_world().tick()
 
     def get_running_status(self):
         """
         returns:
            bool:  False if watchdog exception occured, True otherwise
         """
-        return self._watchdog.get_status()
+        return True
+        # return self._watchdog.get_status()
 
     def stop_scenario(self):
         """

srunner/scenarios/actor_flow.py

@@ -23,39 +23,20 @@
 from srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import (InTriggerDistanceToLocation,
                                                                                WaitEndIntersection,
                                                                                WaitUntilInFrontPosition)
+
 from srunner.scenarios.basic_scenario import BasicScenario
 
 from srunner.tools.background_manager import (SwitchRouteSources,
                                               ChangeOppositeBehavior,
                                               HandleJunctionScenario,
                                               RemoveRoadLane)
-from srunner.tools.scenario_helper import get_same_dir_lanes, generate_target_waypoint_in_route
 
-def convert_dict_to_location(actor_dict):
-    """
-    Convert a JSON string to a Carla.Location
-    """
-    location = carla.Location(
-        x=float(actor_dict['x']),
-        y=float(actor_dict['y']),
-        z=float(actor_dict['z'])
-    )
-    return location
-
-def get_value_parameter(config, name, p_type, default):
-    if name in config.other_parameters:
-        return p_type(config.other_parameters[name]['value'])
-    else:
-        return default
-
-def get_interval_parameter(config, name, p_type, default):
-    if name in config.other_parameters:
-        return [
-            p_type(config.other_parameters[name]['from']),
-            p_type(config.other_parameters[name]['to'])
-        ]
-    else:
-        return default
+from srunner.tools.scenario_helper import (get_same_dir_lanes,
+                                           generate_target_waypoint_in_route,
+                                           get_value_parameter,
+                                           get_interval_parameter,
+                                           convert_dict_to_location)
+
 
 class EnterActorFlow(BasicScenario):
     """