fixed issue where scenario runner tries to spawn its own ego

Dockerfile

@@ -1,7 +1,7 @@
 FROM osrf/ros:humble-desktop
 
 RUN apt -y update && \
-    apt install --no-install-recommends -y libpng16-16 libtiff5 libjpeg8 build-essential curl wget git libxerces-c-dev python3-pip
+    apt install --no-install-recommends -y libpng16-16 libtiff5 libjpeg8 build-essential curl wget git libxerces-c-dev python3-pip vim
 
 # clone repo
 COPY . /autoware_scenario_runner

aw_scenario_runner.py

@@ -62,7 +62,7 @@ def __init__(self, config: dict) -> None:
 
         # Flags
         self.DEV_MODE = self._scenario_config["dev_mode"]
-        self.DEBUG = self._scenario_config["dev_mode"]
+        self.DEBUG = self._scenario_config["debug"]
 
         CarlaDataProvider.set_client(self.carla_client)
 
@@ -79,7 +79,7 @@ def __init__(self, config: dict) -> None:
 
         # main class to execute scenarios
         self.scenario_manager = ScenarioManager(
-            self._scenario_config["debug"],
+            self.DEBUG,
             self._carla_config["sync"],
             self._carla_config["timeout"],
         )
@@ -175,7 +175,8 @@ def run_scenario(
             scenario = RouteScenario(
                 world=self.carla_world,
                 config=route_config,
-                debug_mode=self._carla_config["debug"],
+                debug_mode=self.DEBUG,
+                ego_vehicle=ego,
             )
         except Exception:
             logger.info("Could not load Route Scenario")

srunner/objects/ego_vehicle.py

@@ -61,7 +61,6 @@ def prepare_ego(self) -> None:
         self._actor.set_transform(self._env.ego_spawn)
         self._actor.set_target_velocity(carla.Vector3D())
         self._actor.set_target_angular_velocity(carla.Vector3D())
-        CarlaDataProvider.register_actor(self._actor, self._env.ego_spawn)
 
     def __del__(self) -> None:
         """Clean up