Traffic scenario definition and execution engine
EnterActorFlow
but with slow traffic.Accident
but having to invade an opposite direction lane.Accident
but with a parked obstacle instead.ParkedObstacle
but having to invade an opposite direction lane.Accident
but with a moving group of bicycles in the rightmost park of the laneHazardAtSideLane
but having to invade an opposite direction lane.ConstructionObstacle
but having to invade an opposite direction lane.Accident
but this time the blockage is cause by a vehicle opening its door.StaticCutIn
but the adversary starts at a parking lane.VehicleTurningRoute
but with a pedestrian crossing instead of a bycicle.DynamicObjectCrossing
with no occluder.DynamicObjectCrossing
, but using a parked vehicle as the occluder.OppositeVehicleRunningRedLight
but without traffic lights.SignalizedJunctionLeftTurn
but without traffic lights.SignalizedJunctionRightTurn
but without traffic lights.ConstructionSetupCrossing
to ConstructionObstacle
, and prepared it for routes.transform
argument to all register function to avoid returning None during the first frameget_global_route_planner
and get_all_actors
to avoid repeating these costly calls more than necessaryset_runtime_init_mode
and is_runtime_init_mode
, used by the Leaderboard to initialize scenarios during the simulationcreate_blueprint
function, replaced the safe
argument with the attribute_filter
, for a more generic parsing of any of the blueprint attributes.CarlaDataProvider.get_ego_vehicle_route()
and CarlaDataProvider.set_ego_vehicle_route()
functions as this is now information available to all scenarios.waypoint
have been renamed to position
and are part of the waypoints
category.weather
are allowed, creating a dynamic one based on the ego vehicle's completed percentage of the route.RouteLightsBehavior
to control of all scene and vehicle lights during runtimeCheckMinSpeed
, that checks the ego's speed and compares it with the rest of the trafficroute
for the file path, and route-id
, for the name of route. the functionality remains unchanged.results_writer
class.Scenario
class into the BasicScenario
one.config.other_parameters
wait-for-repetitions
argument at the manual control for a smoother transition between scenarios / repetitionsParameterAction
ParameterCondition
support to use as an event trigger condition--openscenarioparams
argument to overwrite global ParameterDeclaration
request_new_actor
to never activate the autopilot.simple-watchdog-timer
library to the requirements, as it is used by the new watchdog.Renamed some agent labels inside Jenkins CI pipelines for new standard proposals.
Added support for Jenkins CI pipelines doing automated testing and docker images creation.
Very important: CarlaActorPool has been removed and all its functions moved to the CarlaDataProvider:
Added new environment variables needed. They can be seen at (Docs/getting_scenariorunner.md).
Improved the visual display of the information from the output and file arguments.
Routes are now deterministic in regards to the spawning scenarios when more than one are at the same location
The BackgroundActivity functionality has been unchanged but some tweaks have been made, fixing a previous patch. As a result, the amount parameter at ActorConfigurationData has been removed.
Remade how ScenarioRunner reads the scenarios files. It now reads all scenarios inside the srunner/scenarios folder without needing to import them. Scenarios outside that folder will still need the --additionalScenario argument.
The new weather parameters (related to fog) are now correctly read when running scenarios outside routes.
Enable weather animation during scenario execution (requires ephem pip package)
Changed manual control to be in par with the CARLA version. Among others, added vehicle lights, recording and some new sensors
Removed unsupported scenarios (ChallengeBasic and BackgroundActivity, VehicleTurnLeftAtJunction)
Added a new metrics module, which gives access to all the information about a scenario in order to allow the user to extract any desired information about the simulation. More information here
Removed the default randomness at the ControlLoss scenario
OpenSCENARIO support:
Atomics:
CARLA Scenario_Runner 0.9.5.1 is the last release compatible with CARLA 0.9.5