Test & Support ALKS OpenSCENARIO examples

[fabianoboril]

Some additional OSC examples were published here:
https://github.com/arauschert/OSC-ALKS-scenarios

Test and find out what we need to support.

• OSC allows to have no environment setup in the Init part.
• Support ObjectController (with PR Extended OSC Controllers [DO_NOT_MERGE] #713)
• Support ActivateController Action (with PR Extended OSC Controllers [DO_NOT_MERGE] #713)
• Support for multiple stories within one scenario (with PR Several improvements to OpenSCENARIO support #739)
• Support for LaneOffsetAction (with PR Added support for LaneOffsetAction #702)
• Support for FollowTrajectoryAction

Scenarios:

• ALKS_Scenario_4.1_1_FreeDriving (if an ALKS controller is implemented)
• ALKS_Scenario_4.1_2_SwervingLeadVehicle
• ALKS_Scenario_4.1_3_SwervingSideVehicle
• ALKS_Scenario_4.2_1_FullyBlockingTarget (if an ALKS controller is implemented)
• ALKS_Scenario_4.2_2_PartiallyBlockingTarget (if an ALKS controller is implemented)
• ALKS_Scenario_4.2_3_CrossingPedestrian
• ALKS_Scenario_4.2_4_MultipleBlockingTargets
• ALKS_Scenario_4.3_1_FollowLeadVehicleComfortable
• ALKS_Scenario_4.3_2_FollowLeadVehicleEmergencyBrake
• ALKS_Scenario_4.4_1_CutInNoCollision
• ALKS_Scenario_4.4_2_CutInUnavoidableCollision
• ALKS_Scenario_4.5_1_CutOutFullyBlocking
• ALKS_Scenario_4.5_2_CutOutMultipleBlockingTargets
• ALKS_Scenario_4.6_1_ForwardDetectionRange
• ALKS_Scenario_4.6_2_LateralDetectionRange

[arauschert]

Hi,

great that you already created an issue for support of the OSC-ALKS-scenarios!

I'm also trying to run them with CARLA now and here are my additional findings:

• error on loading OpenDRIVE map. see here
• support for pedestrian catalog needed
• 4.2_3: if Orientation is given in LanePosition, then the offset attribute is applied after the rotation and the entity coordinate system is used for the translation instead of the road coordinate system (pedestrian is turned 90° to the left and then moved 5 meters along the entity x coordinate which then equals to the road's s coordinate instead of the road's t coordinate). The offset attribute in the LanePosition is meant as t offset.
• 4.2_3: LanePosition - the offset direction is inverted. the positive t axis of the road coordinate system goes to the left, negative to the right
• 4.4_1: RelativeLanePosition: dLane direction needs to be inverted. positive lane numbering is to the left (offset probably also inverted like in LanePosition)
• 4.1_3: RelativeLanePosition: if ds is <= 0.0, the scenario_runner throws an error. Actually these are valid values. E.g. a vehicle can also be placed behind another vehicle.
• 4.3_2: The speed action doesn't do anything. Don't know if it is not triggered (SimulationTimeCondition should work) or one of the attributes cannot be interpreted
• 4.3_1: Doesn't start. Error see comment below. Since the scenario is almost the same as 4.3_2, only with multiple consecutive SpeedActions, I assume it's either related to the StartTrigger (StoryboardElementStateCondition) or to the multiple events in one maneuver. The error message looks like the actor isn't set for the second event.
• RelativeTargetSpeed seems not supported (in SpeedAction). When exchanging to AbsoluteTargetSpeed it works, but for the CutIn a relative init speed is needed due to the parameterization of this value.

I will fix an issue with the start position of the ego vehicle. It starts at s=0, so in theory the rear axles are exactly on the road, but it's better if the whole vehicle is on a road on startup. So I will move it forward a few meters and adjust the scenarios.

One further remark:
In general more debug output of the scenario runner would be desirable. This would make it easier to pin down the root cause of the issues.

[fabianoboril]

Hi Andreas,

thanks for your input. Let us try to get the things hunted down.

Regarding the debug out: Do you know about the --debug option? This will also provide you the complete behavior tree while the scenario is executing to get an understanding which part is not working as desired.

[fabianoboril]

Hi,

great that you already created an issue for support of the OSC-ALKS-scenarios!

I'm also trying to run them with CARLA now and here are my additional findings:

• error on loading OpenDRIVE map. see here
• support for pedestrian catalog needed

Could you please elaborate on the pedestrian catalog support. We have this supported and I tested your catalog and it seems to work just fine.

I also just updated the loading of the OpenDRIVE map, to avoid that the map is reloaded on every call (PR #752)

[arauschert]

Could you please elaborate on the pedestrian catalog support. We have this supported and I tested your catalog and it seems to work just fine.

Sure, thanks for investigating. Here's the output I get when running the scenario 4.2_1, where a pedestrian from the catalog is used as blocking target:

q496134@cmucl872167:~/CARLA/scenario_runner-0.9.11$ python scenario_runner.py --openscenario ../../OSC-ALKS-scenarios/Scenarios/ALKS_Scenario_4.2_1_FullyBlockingTarget_TEMPLATE.xosc --debug
WARNING:[SR:OpenScenarioConfiguration]: Wrong OpenDRIVE map in use. Forcing reload of CARLA world
WARNING: cannot parse georeference: ''. Using default values.
WARNING: cannot parse georeference: ''. Using default values.
WARNING: cannot parse georeference: ''. Using default values.
Preparing scenario: ALKS Scenario 4.2_1 FullyBlockingTarget Template
WARNING: Actor model car_ego not available. Using instead vehicle.tesla.model3
WARNING: Actor model Adult not available. Using instead walker.pedestrian.0001
The scenario cannot be loaded
Traceback (most recent call last):
File "scenario_runner.py", line 374, in _load_and_run_scenario
scenario = OpenScenario(world=self.world,
File "/home/q496134/CARLA/scenario_runner-0.9.11/srunner/scenarios/open_scenario.py", line 187, in init
super(OpenScenario, self).init("OpenScenario", ego_vehicles=ego_vehicles, config=config,
File "/home/q496134/CARLA/scenario_runner-0.9.11/srunner/scenarios/basic_scenario.py", line 53, in init
self._initialize_actors(config)
File "/home/q496134/CARLA/scenario_runner-0.9.11/srunner/scenarios/basic_scenario.py", line 116, in _initialize_actors
raise Exception("Error: Unable to add actors")
Exception: Error: Unable to add actors
Error: Unable to add actors
Destroying ego vehicle 87
ERROR: failed to destroy actor 87 : unable to destroy actor: not found
No more scenarios .... Exiting

Another observation is that if you run scenario 4.2_4, where also a pedestrian from a catalog is used, it runs. But I didn't see the pedestrian. Here's the relevant debug output:

q496134@cmucl872167:~/CARLA/scenario_runner-0.9.11$ python scenario_runner.py --openscenario ../../OSC-ALKS-scenarios/Scenarios/ALKS_Scenario_4.2_4_MultipleBlockingTargets_TEMPLATE.xosc --debug
WARNING: cannot parse georeference: ''. Using default values.
WARNING: cannot parse georeference: ''. Using default values.
WARNING:[SR:OpenScenarioConfiguration]: Wrong OpenDRIVE map in use. Forcing reload of CARLA world
WARNING: cannot parse georeference: ''. Using default values.
WARNING: cannot parse georeference: ''. Using default values.
WARNING: cannot parse georeference: ''. Using default values.
Preparing scenario: ALKS Scenario 4.2_4 MultipleBlockingTargets Template
WARNING: Actor model car_ego not available. Using instead vehicle.tesla.model3
WARNING: Actor model Adult not available. Using instead walker.pedestrian.0001
WARNING: Actor model bus not available. Using instead vehicle.volkswagen.t2
WARNING: cannot parse georeference: ''. Using default values.
WARNING: cannot parse georeference: ''. Using default values.
ScenarioManager: Running scenario OpenScenario

--------- Tick ---------

...

   (-) InitBehaviour [✓]
        --> InitialActorSettings Done? [✕] -- 'InitialActorSettings' comparison failed
        [-] OneShot [✓]
            (o) InitBehaviour [✓]
                [-] InitActorTargetBlocking2 [✓]
                    --> ChangeActorControl [✓]
                [-] InitActorEgo [✓]
                    --> ChangeActorControl [✓]
                    --> ChangeActorTargetSpeed [✓]
            --> Mark Done [✓] -- success

Seems like the pedestrian (TargetBlocking) is parsed from the scenario file but not added to the simulation. Only the exception from above does not occur.

[fabianoboril]

Which commit hash are you testing with?

[arauschert]

I'm using release 0.9.11

[fabianoboril]

Could you try testing #713? It is not yet completed but should resolve some of the issues you might see.

[arauschert]

Could you try testing #713? It is not yet completed but should resolve some of the issues you might see.

Hi, I checked out the branch and now the pedestrian scenarios run. Great! Seems these things are already fixed.
Then let's concentrate on the other stuff.

[arauschert]

Here's the output for scenario 4.3_1(tested with branch feat/OscControllerUpdates):

q496134@cmucl872167:~/CARLA/scenario_runner$ ./scenario_runner.py --openscenario ../../OSC-ALKS-scenarios/Scenarios/ALKS_Scenario_4.3_1_FollowLeadVehicleComfortable_TEMPLATE.xosc
WARNING: cannot parse georeference: ''. Using default values.
WARNING: cannot parse georeference: ''. Using default values.
WARNING: cannot parse georeference: ''. Using default values.
WARNING: cannot parse georeference: ''. Using default values.
Preparing scenario: ALKS Scenario 4.3_1 FollowLeadVehicleComfortable Template
WARNING: Actor model car_ego not available. Using instead vehicle.tesla.model3
WARNING: Actor model car not available. Using instead vehicle.tesla.model3
The scenario cannot be loaded
Traceback (most recent call last):
File "./scenario_runner.py", line 375, in _load_and_run_scenario
scenario = OpenScenario(world=self.world,
File "/home/q496134/CARLA/scenario_runner/srunner/scenarios/open_scenario.py", line 187, in init
super(OpenScenario, self).init(self.config.name, ego_vehicles=ego_vehicles, config=config,
File "/home/q496134/CARLA/scenario_runner/srunner/scenarios/basic_scenario.py", line 63, in init
behavior = self._create_behavior()
File "/home/q496134/CARLA/scenario_runner/srunner/scenarios/open_scenario.py", line 325, in _create_behavior
maneuver_behavior = OpenScenarioParser.convert_maneuver_to_atomic(
File "/home/q496134/CARLA/scenario_runner/srunner/tools/openscenario_parser.py", line 1039, in convert_maneuver_to_atomic
if 'role_name' in traffic_actor.attributes and traffic_actor.attributes['role_name'] == obj:
AttributeError: 'NoneType' object has no attribute 'attributes'
'NoneType' object has no attribute 'attributes'
Destroying ego vehicle 124
ERROR: failed to destroy actor 124 : unable to destroy actor: not found
No more scenarios .... Exiting

[fabianoboril]

A fix is integrated into the branch of #713.

[arauschert]

A fix is integrated into the branch of #713.

Yes, looks good. Now the scenario 4.3_1 starts. I'll mark this issue as done in the comment above.