111-bug-fixes

.gitignore

@@ -27,7 +27,7 @@ srunner/osc2
 srunner/osc2_dm
 srunner/osc2_stdlib
 metrics_manager.py
-
+docker-compose.yml
 jats
 paper
 logs

README.md

@@ -23,10 +23,11 @@ docker pull ghcr.io/intelligent-testing-lab/autoware-scenario-runner:latest
 docker pull ghcr.io/intelligent-testing-lab/autoware:latest
 ```
 
-Autoware and ROS use a custom messaging interface for communcation, known as DDS. They support various implementations, but they all rely on specific network settings to enable maximum data transfer. Save the following command in `setup.sh`, allow it to be executable `chmod +x setup.sh` and run.
+Autoware and ROS use a custom messaging interface for communication, known as DDS. They support various implementations, but they all rely on specific network settings to enable maximum data transfer. Save the following command in `setup.sh`, allow it to be executable `chmod +x setup.sh` and run.
 ```bash
-# Increase the maximum receive buffer size for network packets
+# Increase the maximum receive and send buffer size for network packets, allowing our containers to communicate
 sudo sysctl -w net.core.rmem_max=2147483647  # 2 GiB, default is 208 KiB
+sudo sysctl -w net.core.wmem_max=2147483647
 
 # IP fragmentation settings
 sudo sysctl -w net.ipv4.ipfrag_time=3  # in seconds, default is 30 s
@@ -42,7 +43,7 @@ xhost +local:docker
 Using CAWSR
 ------------------------
 
-After completiting the prerequisite steps, clone the CAWSR workspace repository. To launch CAWSR, navigate to the CAWSR workspace and run `docker compose up`.
+After completiting the prerequisite steps, clone the [CAWSR workspace](https://github.com/Intelligent-Testing-Lab/cawsr_workspace) repository. To launch CAWSR, navigate to the CAWSR workspace and run `docker compose up`.
 
 The structure of the workspace is as follows.
 ```
@@ -78,14 +79,17 @@ is called. To implement a custom algorithm, create a class than inherits from `B
 
 The algorithm will execute **runs** times.
 
-
 Scenario Definition
 -------------------
 
 We use a custom implementation of a scenario definition in JSON. We have included a scenario domain model, as well as plenty of examples in the CAWSR Workspace repository `scenarios/examples/`.
 
 Domain Model:
-![Domain Model](./docs/resources/scenario_domain.png)
+![Domain Model](./docs/resources/scenario_domain.pdf)
+
+Notes
+------------
+Currently, traffic light recognition is disabled due to an issue with the [CARLA map format](https://github.com/autowarefoundation/autoware_universe/tree/main/simulator/autoware_carla_interface#traffic-light-recognition). This is a time consuming process, as each new traffic light requires the creation of a new objects within the CARLA Lanelet2 file that match the position of the PCD exactly. Once finished, we'll publish an updated Autoware image accordingly.
 
 Contributing
 ------------
@@ -102,3 +106,4 @@ License
 -------
 
 ScenarioRunner specific code is distributed under MIT License.
+CAWSR specific code is distributed under MIT License.

docker/cyclonedds.xml

@@ -9,10 +9,14 @@
       <MaxMessageSize>65500B</MaxMessageSize>
     </General>
     <Internal>
-      <SocketReceiveBufferSize min="10MB"/>
+      <SocketReceiveBufferSize min="32MB"/>
+      <SocketSendBufferSize min="8MB"/>
       <Watermarks>
-        <WhcHigh>500kB</WhcHigh>
+        <WhcHigh>1MB</WhcHigh>
       </Watermarks>
     </Internal>
+    <Tracing>
+      <Verbosity>warning</Verbosity>
+    </Tracing>
   </Domain>
 </CycloneDDS>

srunner/autoagents/autoware_agent.py

@@ -44,10 +44,10 @@ def setup(self, config: EnvironmentConfig) -> None:
         """
 
         rclpy.init(args=None)
-        
+
         self.config = config
 
-        self._node = rclpy.create_node('cawsr_bridge')
+        self._node = rclpy.create_node("cawsr_bridge")
 
         self.autoware_state = autoware_state.AutowareState("ego_vehicle", None)
 
@@ -171,7 +171,7 @@ def run_step(self) -> None:
             if self.initialised:
                 logger.info("Set agent route!")
 
-        # check if the current route is set
+        # check if the current route is set and we can publish engage
         if self.autoware_state.route_set() and not self.autoware_state.sent_engage:
             self.autoware_node.publish_engage(True)
 

srunner/autoagents/autoware_carla_interface/carla_ros.py

@@ -27,7 +27,6 @@
 from geometry_msgs.msg import Pose
 from geometry_msgs.msg import PoseWithCovarianceStamped
 import numpy
-import rclpy
 import datetime
 import pathlib
 from rosgraph_msgs.msg import Clock
@@ -56,7 +55,6 @@
     SensorInterface,
 )
 
-from srunner.tools.CARLA_manager import CARLAManager
 
 class carla_ros2_interface(object):
     def __init__(self, node):
@@ -86,27 +84,19 @@ def __init__(self, node):
             sensor: datetime.datetime.now() for sensor in self.sensor_frequencies
         }
 
-        self.game_time_offset = CARLAManager.FIXED_DELTA_SECONDS * 3 # offset to account for initilisation ticks
-        frac, whole = math.modf(self.game_time_offset)
-
         self.ros2_node = node
 
-        # Publish clock
         self.clock_publisher = self.ros2_node.create_publisher(Clock, "/clock", 10)
         obj_clock = Clock()
-        obj_clock.clock = Time(
-            sec=int(whole), 
-            nanosec=int(frac * 1e9)
-        )
+        obj_clock.clock = Time(sec=int(0))
         self.clock_publisher.publish(obj_clock)
 
-        # Sensor Config (Edit your sensor here)
+        # load sensor config and create publishers
         sensors_config = pathlib.Path(
             "srunner/autoagents/autoware_carla_interface/objects/sensors.json"
         )
         self.sensors = json.load(open(sensors_config.absolute()))
 
-        # Subscribing Autoware Control messages and converting to CARLA control
         self.sub_control = self.ros2_node.create_subscription(
             ActuationCommandStamped,
             "/control/command/actuation_cmd",
@@ -120,7 +110,6 @@ def __init__(self, node):
 
         self.current_control = carla.VehicleControl()
 
-        # Direct data publishing from CARLA for Autoware
         self.pub_pose_with_cov = self.ros2_node.create_publisher(
             PoseWithCovarianceStamped, "/sensing/gnss/pose_with_covariance", 1
         )
@@ -140,7 +129,6 @@ def __init__(self, node):
             ActuationStatusStamped, "/vehicle/status/actuation_status", 1
         )
 
-        # Create Publisher for each Physical Sensors
         for sensor in self.sensors["sensors"]:
             self.id_to_sensor_type_map[sensor["id"]] = sensor["type"]
             if sensor["type"] == "sensor.camera.rgb":
@@ -155,7 +143,7 @@ def __init__(self, node):
                     self.pub_lidar[sensor["id"]] = self.ros2_node.create_publisher(
                         PointCloud2,
                         f"/sensing/lidar/{sensor['id']}/pointcloud_before_sync",
-                        10,
+                        5,  # lower qos depth as using best_reliability
                     )
                 else:
                     self.ros2_node.get_logger().info(
@@ -171,9 +159,6 @@ def __init__(self, node):
                 )
                 pass
 
-        # add to multi threaded executor instead
-        # self.spin_thread = threading.Thread(target=rclpy.spin, args=(self.ros2_node,))
-
     def __call__(self):
         input_data = self.sensor_interface.get_data()
         timestamp = GameTime.get_time()
@@ -504,18 +489,16 @@ def run_step(self, input_data, timestamp):
             else:
                 self.ros2_node.get_logger().info("No Publisher for [{key}] Sensor")
 
-        # Publish ego vehicle status
-        self.ego_status()
+        time.sleep(0.05)  # 50ms delay to ensure published messages are received
 
-        time.sleep(0.001) # small delay to ensure all data can be sent in time 
-
-        # publish clock last to ensure all sensor data is waiting for autoware
         seconds = int(self.timestamp)
         nanoseconds = int((self.timestamp - int(self.timestamp)) * 1000000000.0)
         obj_clock = Clock()
         obj_clock.clock = Time(sec=seconds, nanosec=nanoseconds)
         self.clock_publisher.publish(obj_clock)
-
+
+        self.ego_status()
+
         return self.current_control
 
     def shutdown(self):