Merge pull request #43 from Intelligent-Testing-Lab/28-add-support-for-spawning-ego-vehicle-through-scenario-runner

refactored threading to use MultiThreadedExecutors for callbacks

Author: david-gasinski

aw_scenario_runner.py

@@ -129,9 +129,11 @@ def run_scenario(
 
         self.carla_world.wait_for_tick()
 
-        logger.info("Setting up sensort configuration...")
+        logger.info("Setting up sensor configuration...")
         ego.setup_sensors()
 
+        self.carla_world.wait_for_tick()
+
         if not self.DEV_MODE:
             logger.info("Loading Autoware agent")
             agent_class_name = self.module_aw_agent.__name__.title().replace("_", "")

config.yaml

@@ -7,18 +7,18 @@ carla:
   timeout: 20
   sync: true
   fixed_delta_seconds: 0.05 # update rate 1 / FPS
-  dev_mode: false
-  debug: false
 traffic_manager:
   active: false
   sync: true # must be the same as carla sync
   seed: 0
   port: 8000
 scenario_runner:
+  debug: false
+  dev_mode: false
   json: ./example_scenario.json
   route_id: 0
   agent: srunner/autoagents/autoware_agent
   algorithm:
     iterations: 1000
-    path: /srunner/ # relative path
+    path: /algorithms # relative path
     hyperparmaters: # will be passed into the algorithm class

srunner/autoagents/autoware_agent.py

@@ -42,12 +42,16 @@ def setup(self, config: EnvironmentConfig | None = None) -> None:
         self.state_node = state_node.StateNode(self.autoware_state)
         self.autoware_node = autoware_node.AutowareNode(self.autoware_state)
 
-        self._nodes = [self.route_node, self.autoware_node, self.state_node]
-        self._node_threads = [
-            threading.Thread(target=rclpy.spin, args=(self.route_node)),
-            threading.Thread(target=rclpy.spin, args=(self.autoware_node)),
-            threading.Thread(target=rclpy.spin, args=(self.state_node)),
-        ]
+        self._multi_thread_executor = rclpy.executor.MultiThreadedExecutor()
+
+        self._multi_thread_executor.add(self.route_node)
+        self._multi_thread_executor.add(self.state_node)
+        self._multi_thread_executor.add(self.autoware_node)
+
+        self._executor_thread = threading.Thread(
+            target=self._multi_thread_executor.spin, daemon=True
+        )
+        self._executor_thread.start()
 
         # check the bridge is ready
         # publish sensor information to the bridge
@@ -105,14 +109,14 @@ def _convert_to_waypoint(self, point):
     def destroy(self) -> None:
         """Cleanup"""
         try:
-            for thread in range(len(self._node_threads)):
-                self._node_threads[thread].join()
-                self._nodes[thread].destroy_node()
+            self.autoware_node.destroy()
+            self.state_node.destroy()
+            self.route_node.destroy()
+            rclpy.shutdown()
+            self._executor_thread.join()
         except RuntimeError:
             logger.info("Cleaned up threads...")
 
-        rclpy.shutdown()
-
     def run_step(self) -> None:
         """Tick method containing all logic based on autoware state"""
         self.counter += 1

srunner/objects/ego_vehicle.py

@@ -67,5 +67,5 @@ def __del__(self) -> None:
         """Clean up
         Check if the actor exists in CARLA, delete if so
         """
-        if self._actor.is_alive():
+        if self._actor.is_alive:
             self._actor.destroy()

srunner/objects/sensors.py

@@ -16,13 +16,10 @@ def __init__(self) -> None:
     def _spawn(self, bp_library, vehicle) -> None:
         sensor_bp = bp_library.find(str(self.type))
 
-        ignored_params = ["serealize", "id", "spawn", "type"]
+        ignored_params = ["serealize", "id", "_spawn", "type", "spawn"]
 
-        sensor_params = [
-            attr
-            for attr in dir(self)
-            if attr not in ignored_params or not attr.startswith("_")
-        ]
+        sensor_params = [attr for attr in dir(self) if attr not in ignored_params]
+        sensor_params = filter(lambda x: not x.startswith("__"), sensor_params)
 
         for param in sensor_params:
             sensor_bp.set_attribute(param, str(getattr(self, param)))