icolwell-as / geoscenarioserver

GeoScenario Server

Includes: GeoScenario Parser, Checker, Sim Vehicle Planner with Behavior Trees and Maneuver Models.

Dependencies

• Ubuntu 20.04

Apt packages

• python3.8
• python3.8-dev
• python3.8-venv
• python3-tk
• python3-pip
• python3-pil
• python3-pil.imagetk

Python packages

• numpy
• glog
• matplotlib
• scipy
• py_trees
• tk
• sysv-ipc
• antlr4-python3-runtime==4.9.3 (later versions cause a parsing error Exception: Could not deserialize ATN with version (expected 4).)
• antlr-denter

To automatically install the dependencies, execute

bash scripts/install_dependencies.bash

Running

• run python3.8 GSServer.py -s scenarios/<geoscenario_file> to start the Server.

optional arguments:
  -h, --help            show this help message and exit
  -s [FILE [FILE ...]], --scenario [FILE [FILE ...]]
                        GeoScenario file. If no file is provided, the GSServer will load a scenario from code
  -q VERBOSE, --quiet VERBOSE
                        don't print messages to stdout
  -m, --map-path
                        Set the prefix to append to the value of the attribute `globalconfig->lanelet`
                        e.g. --map-path $HOME/anm_unreal_test_suite/maps
  -b, --btree-locations
                        Add higher priority locations to search for btrees by agent btypes
                        e.g. --btree-locations $HOME/anm_unreal_test_suite/btrees

• GeoScenario files (2.0 required) must be placed inside scenarios/
• If a file is not given, you must provide a manual problem startup from code.
• LaneletMap files must be placed inside scenarios/maps (a map file is mandatory).
• Co-Simulator (Unreal or other) is optional.

Loading multiple scenario files

• The --scenario option can take more than one .osm file as its arguments
• For example,

python3.8 GSServer.py --scenario scenarios/test_scenarios/gs_straight_obstacles.osm scenarios/test_scenarios/gs_straight_pedestrian.osm

• With the exception of globalconfig and origin, the elements from each scenario are loaded and combined at runtime
• The globalconfig and origin are used from the first .osm file that is specified (which is gs_straight_obstacles.osm in the example)
• Multiple scenarios can define vehicles and pedestrians with the same vids and pids
• If these scenarios are passed to the --scenario option, then an error will be reported
• All vid and pid conflicts must be resolved before running GSServer.py
• Scenarios can contain vehicles with no vid and pedestrians with no pid
• These vehicles and pedestrians will be auto-assigned vids and pids
• Auto-assigned vids and pids will start from 1 and won't conflict with the other vids and pids

Configuration:

• Check SimConfig.py for configuration options.
• Adjust FRAME_RATE based on hardware performance to avoid drift (Recommended 30Hz).
• Adjust PLANNER_RATE based on hardware performance and what scenario requirements.
• Use SHOW_DASHBOARD = True for GUI. Adjust dashboard refresh rate according to performance.
• Simulations can only run in Real Time (so far).

Co-Simulation:

• Use the shared memory keys inside SimConfig to read/write the server shared memory blocks.
• We provide a GeoScenario Client for Unreal in /unreal.

Documentation

GeoScenario documentation can be found here.

[email protected] [email protected]

geoscenarioserver's Issues

Ctrl-C isn't handled cleanly

When I Ctrl-C geoscenario server, it often results in a bunch of unrelated and random errors. This is somewhat expected, but it would be nice to shut down more cleanly, to avoid confusion and keep errors/exceptions out of any possible logs.

Implement "abstract" paths for PVs

According to the docs, an abstract path will be moved to start at the vehicles's starting point.

Fix TV velocities

The x_vel and y_vel tags don't exist for trajectory points, but the code seems to think they do. Fix the follow_trajectory function.

ROS2 Foxy Client

Create two ROS2 packages:

• geoscenario_client
• geoscenario_msgs

Implement Path Vehicles

Path vehicles are described here:
https://geoscenario2.readthedocs.io/en/latest/vehicles/

But not yet implemented in geoscenarioserver.

Add a distance param to PVs

Path Vehicles already have a starting heading parameter, but they should also have a starting distance or s parameter to indicate how far along the path they should start.

This will make it easier to put a bunch of PVs on the same path.

Add geoscenario docs

Currently the geoscenario2 docs are stored here:
https://git.uwaterloo.ca/wise-lab/geoscenario/-/tree/geoscenario2?ref_type=heads

Move all that content into this repo, so it's all together in once place, and it's easier to make modifications to the geoscenario spec.

Remove client-specific code from default server functionality

Currently there are unit conversions and things that only really make sense for specific clients.
Move anything client-specific into the respective client code.

Add support for Path-based Pedestrians

Dashboard bug when using pedestrians

The dashboard assumes all pedestrians are SP

Add pedestrian type to ROS2 client

Seems like it got missed

GSServer.py returncode should indicate pass/fail/timeout

At the moment, GSServer.py always seems to finish with a 0 return code, even when collisions were detected and the scenario failed.
Have the return code mean something, to make automation easier.

Add 3rd Dimension

For now just add the ability to read OSM elevation tags from path nodes, and expand shared memory to include z_vel.
No need for full lanelet2 elevation support yet.