From 1ec6223659eacf66687a1e88dc483e30a0eb3138 Mon Sep 17 00:00:00 2001 From: David Gasinski Date: Fri, 1 Aug 2025 13:03:58 +0100 Subject: [PATCH 1/3] fixed bug with incorrect object reference --- aw_scenario_runner.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/aw_scenario_runner.py b/aw_scenario_runner.py index 883b209..22ed34e 100644 --- a/aw_scenario_runner.py +++ b/aw_scenario_runner.py @@ -157,7 +157,7 @@ def run_scenario( world=self.carla_world, config=route_config, debug_mode=self.DEBUG, - ego_vehicle=ego, + ego_vehicle=ego._actor, ) except Exception: logger.info("Could not load Route Scenario") @@ -165,6 +165,7 @@ def run_scenario( return False logger.info("Updating world settings:") + # tick asynchronously until then settings = CarlaDataProvider.get_world().get_settings() settings.synchronous_mode = True From d51c4d11f3e4dbf5d08ad1f3adea6bd7f0b60980 Mon Sep 17 00:00:00 2001 From: David Gasinski Date: Fri, 1 Aug 2025 13:06:02 +0100 Subject: [PATCH 2/3] fixed bug with incorrect function type signature --- srunner/scenarios/route_scenario.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/srunner/scenarios/route_scenario.py b/srunner/scenarios/route_scenario.py index 4a9ec80..62ffb30 100644 --- a/srunner/scenarios/route_scenario.py +++ b/srunner/scenarios/route_scenario.py @@ -175,7 +175,7 @@ def _update_ego_pos(self, ego: carla.Actor) -> None: elevate_transform = self.route[0][0] elevate_transform.location.z += 0.5 - ego.set_transform() + ego.set_transform(elevate_transform) def _estimate_route_timeout(self): """ From 621ef3427f0c246381b5c5a7ed984d15772203f1 Mon Sep 17 00:00:00 2001 From: David Gasinski Date: Fri, 1 Aug 2025 13:15:11 +0100 Subject: [PATCH 3/3] refactor --- aw_scenario_runner.py | 26 ++++++++++++-------------- 1 file changed, 12 insertions(+), 14 deletions(-) diff --git a/aw_scenario_runner.py b/aw_scenario_runner.py index 22ed34e..7e2766f 100644 --- a/aw_scenario_runner.py +++ b/aw_scenario_runner.py @@ -145,25 +145,12 @@ def run_scenario( route_config.agent = self.aw_agent except Exception as e: # Forces the simulation to run synchronously # pylint: disable=broad-except logger.error("Could not setup required agent due to {}".format(e)) - # self._cleanup() + self._cleanup() return False ego.prepare_ego() logger.info("Loading route...") - - try: - scenario = RouteScenario( - world=self.carla_world, - config=route_config, - debug_mode=self.DEBUG, - ego_vehicle=ego._actor, - ) - except Exception: - logger.info("Could not load Route Scenario") - traceback.print_exc() - return False - logger.info("Updating world settings:") # tick asynchronously until then @@ -182,6 +169,17 @@ def run_scenario( tm.set_random_device_seed(int(self._tm_config["seed"])) # ADD TO CONFIG tm.set_synchronous_mode(self._tm_config["sync"]) + try: + scenario = RouteScenario( + world=self.carla_world, + config=route_config, + debug_mode=self.DEBUG, + ego_vehicle=ego._actor, + ) + except Exception: + logger.info("Could not load Route Scenario") + traceback.print_exc() + return False logger.info("Starting scenario...") try: