lexasss / scenario_runner-0.9.13

Clone on the CARLA's scenario_runner project adapted for the research needs

Clone of ScenarioRunner for CARLA adapted for own research needs.

The original ScenarioRunner was modified a bit:

• fixed the issue with wrong parameter for some function,
• manual_contorl.py:
  • the front camera moved into the cabin,
  • initial camera may be specified as a script argument with --camera 0..4
• scenario_runner.py:
  • the script takes an optional argument --params <str> that is passed to the scenario script, and this parameter moves futher into the scenario class constructor:

  class MyScenario(BasicScenario):
      def __init__(self, world,   # skipped other parameters 
                  params=''):     # receives the string passed as --params to the scenario_runner.py
          ...

Requirements

• CARLA 0.9.13
• Python 3.7.9
• Git

Downloading the project

git clone https://github.com/lexasss/scenario_runner-0.9.13.git

Note:

• After cloning the project, please specify correct pathes in .set-env.ps1,
• Virtual environment is created and all Python dependencies are installed into this environment once any scenario is launched for the first time.

Scenarios

Scenarios are located in scenarios folder. To start, simply run CARLA and then run a scenario in PowerShell.

Note: You may need to allow PowerShell running scripts. If so, open PowerShell and run the following command:

Set-ExecutionPolicy Unrestricted

Tip: PowerShell scripts can be launched by mouse double-click if the default value of HKEY_CLASSES_ROOT\Microsoft.PowerShellScript.1\Shell\Open\Command in RegEdit is set to powershell.exe -noLogo -file "%1". Note that you can add -ExecutionPolicy unrestricted into this command to avoid changing the PowerShell policy as suggested above in Note.

List of scenarios:

• ChangeLane:
  Comes with 3 tasks:

  1. Ego car moves in the middle lane. There is a Tesla car moving a bit ahead and on the left lane. There are also few other cars moving on difference lanes. All cars move in autonomous mode,
  2. Same as in task #1, but the ego car moved a bit faster than other cars. When it approaches the Tesla moving on the left lane, the Tesla changes the lane at a safe distance in front of the ego car.
  3. Same as in task #2, but the Tesla changes the lane at an unsafe distance in front of the ego car, so the driver should slow down to avoid collision.

  Note: The original ChangeLane scenario was renamed into ChangeLaneOriginal