bug fixes

Dockerfile

@@ -16,6 +16,7 @@ RUN mkdir /ros_workspace/ &&  \
     tar -xvf /ros_workspace/autoware_msgs.tar && \
     rm -rf /ros_workspace/autoware_msgs.tar && \
     source /opt/ros/humble/setup.bash && \
+    apt install ros-humble-rmw-cyclonedds-cpp ros-humble-tf-transformations && \
     rosdep install -i --from-path /ros_workspace/src --rosdistro humble -y && \
     colcon build
 

aw_scenario_runner.py

@@ -67,6 +67,12 @@ def __init__(self, config: dict) -> None:
             sys.path.insert(0, os.path.dirname(autoware_agent_path))
             self.module_aw_agent = importlib.import_module(module_name)
 
+        # load the algorithm of choice
+        algorithm = self._scenario_config["algorithm"]  # relative path to entry point
+        alg_module = os.path.basename(algorithm).split(".")[0]
+        sys.path.insert(0, os.path.dirname(algorithm))
+        self.module_algorithm = importlib.import_module(alg_module)
+
         # main class to execute scenarios
         self.scenario_manager = ScenarioManager(
             self._scenario_config["debug"],
@@ -221,7 +227,7 @@ def run_scenario(
             result = True
         except Exception:
             traceback.print_exc()
-            print("It doesn't wokr")
+            print("It doesn't work")
             result = False
         return result
 
@@ -238,6 +244,8 @@ def _spawn_ego(self, env_config: EnvironmentConfig) -> None:
         )
         self.ego_vehicles.append(ego)
 
+        CarlaDataProvider.get_world().wait_for_tick()  # wait for tick
+
         bp_library = self.carla_world.get_blueprint_library()
         # setup sensors
         for sensor in env_config.sensor_config:
@@ -254,11 +262,15 @@ def _load_route_scenario(
         return route_config[0]
 
     def run(self) -> bool:
+        # load the original JSON file
         # load the route config
-        # load the scenarion
-        # run it
+        # load the scenario config
+        # run scenario
         # get the metrics
         # call the algorithm callback
+        # save using ResultsManager static class
+
+        # repeat for iterations
 
         env_config = self._load_scenario_config()
         route_config = self._load_route_scenario(env_config)

config.yaml

@@ -19,4 +19,5 @@ scenario_runner:
   in_docker: true # used for dev
 algorithm:
   iterations: 1000
+  path: /srunner/ # relative path
   hyperparmaters: # will be passed into the algorithm class

example_scenario.json

@@ -174,7 +174,6 @@
                                 "upper_fov": 10.0,
                                 "lower_fov": -30.0,
                                 "rotation_frequency": 20,
-                                "noise_stddev": 0.0
                             }
                         },
                         {

srunner/autoagents/autoware_agent.py

@@ -53,7 +53,6 @@ def setup(self, config: EnvironmentConfig | None = None) -> None:
         # check the bridge is ready
         # publish sensor information to the bridge
         # wait for it to return the correct message
-        # hang until
 
         ego_config_msg = EgoConfig()
         ego_config_msg.ego_name = config.ego_name
@@ -69,7 +68,7 @@ def setup(self, config: EnvironmentConfig | None = None) -> None:
         # keep publishing ego_sensor config until the bridge is ready
         while not self.autoware_state.bridge_ready:
             time.sleep(1)
-            self.autoware_state.ego_config_publisher.publish(ego_config_msg)
+            self.state_node.ego_config_publisher.publish(ego_config_msg)
 
     def set_route(self) -> None:
         # for every point in the plan

srunner/autoagents/autoware_nodes/state_node.py

@@ -5,15 +5,13 @@
 from srunner.autoagents.agent_state import autoware_state
 from autoware_carla_interface.msg import EgoConfig, BridgeState
 
-from srunner.tools.environment_parser import DefaultSensor
-
 
 class StateNode(Node):
     route_state = "/planning/mission_planning/state"
     motion_state = "/api/motion/state"
     localize_state = "/api/localization/initialization_state"
 
-    ego_config = "/bridge/ego_vehicle/config" # publish sensor config type: EgoConfig
+    ego_config = "/bridge/ego_vehicle/config"  # publish sensor config type: EgoConfig
     bridge_state = "/bridge/state"
 
     def __init__(self, autoware_state: autoware_state.AutowareState) -> None:
@@ -33,18 +31,13 @@ def __init__(self, autoware_state: autoware_state.AutowareState) -> None:
             10,
         )
         self.autoware_state_subscriber = self.create_subscription(
-            BridgeState,
-            self.bridge_state,
-            self.bridge_state_cb,
-            10
+            BridgeState, self.bridge_state, self.bridge_state_cb, 10
         )
-        
+
         self.ego_config_publisher = self.create_publisher(
-            EgoConfig,
-            self.ego_config,
-            10
+            EgoConfig, self.ego_config, 10
         )
-        
+
     def bridge_state_cb(self, bridge_state_msg: BridgeState):
         """Set the AutowareState attribute bridge_state
 
@@ -78,6 +71,3 @@ def localize_state_cb(
             localize_state_msg (LocalizationInitializationState): localization message received
         """
         self.autoware_state.localize_state = localize_state_msg.state
-
-    def publish_sensor_info(self, sensor_config: list[DefaultSensor]) -> None:
-        return

srunner/tools/environment_parser.py

@@ -39,13 +39,15 @@ def _spawn(self, bp_library, vehicle) -> None:
         sensor_params = [attr for attr in dir(self) if attr not in ignored_params]
 
         for param in sensor_params:
-            sensor_bp.set_attribute(param, getattr(self, param))
+            sensor_bp.set_attribute(param, str(getattr(self, param)))
 
         CarlaDataProvider.get_world().spawn_actor(sensor_bp, self.spawn, vehicle)
+        CarlaDataProvider.get_world().wait_for_tick()
 
     def serealize(self):
         return self.type, self.id
 
+
 class CameraRGB(DefaultSensor):
     """
     A class to hold additional information about a camera sensor
@@ -70,8 +72,7 @@ def __init__(self) -> None:
         self.points_per_second: int = 0
         self.upper_fov: float = 0.0
         self.lower_fov: float = 0.0
-        self.rotation_freq: int = 0
-        self.noise_sttdev: float = 0.0
+        self.rotation_frequency: int = 0
 
 
 class SensorGNSS(DefaultSensor):
@@ -171,8 +172,9 @@ def parse_ego_config(config: EnvironmentConfig, elem: Element) -> None:
                 sensor_obj.points_per_second = sensor.attrib.get("points_per_second", 0)
                 sensor_obj.upper_fov = sensor.attrib.get("upper_fov", 0.0)
                 sensor_obj.lower_fov = sensor.attrib.get("lower_fov", 0.0)
-                sensor_obj.rotation_freq = sensor.attrib.get("rotation_frequency", 0)
-                sensor_obj.noise_sttdev = sensor.attrib.get("noise_sttdev", 0.0)
+                sensor_obj.rotation_frequency = sensor.attrib.get(
+                    "rotation_frequency", 0
+                )
 
             sensor_obj.type = sensor_type
             sensor_obj.id = sensor.attrib.get("id", "")