Merge branch 'master' into master

.github/workflows/static_code_check.yml

@@ -12,7 +12,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
 
     - name: Install Dependencies
       run: |
@@ -35,7 +35,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
 
     - name: Install Dependencies
       run: |

.github/workflows/unit_test.yml

@@ -1,4 +1,4 @@
-name: Static Code Analysis
+name: Unit Tests
 
 on:
   push:
@@ -12,7 +12,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
 
     - name: Install Dependencies
       run: |

Docs/CHANGELOG.md

@@ -12,6 +12,10 @@
 * [CARLA ScenarioRunner 0.9.5](#carla-scenariorunner-095)
 * [CARLA ScenarioRunner 0.9.2](#carla-scenariorunner-092)
 
+## Upcoming
+* Improvements to the CarlaDataProvider:
+ - Added `spawn_actor` for a blueprint based actor creation similar to `World.spawn_actor`
+
 ## CARLA ScenarioRunner 0.9.15
 ### :rocket: New Features
 * Add waypoint reached threshold so that the precision of the actor reaching to waypoints can be adjusted based on object types.

scenario_runner.py

@@ -80,7 +80,6 @@ class ScenarioRunner(object):
     # Tunable parameters
     client_timeout = 10.0  # in seconds
     wait_for_world = 20.0  # in seconds
-    frame_rate = 20.0      # in Hz
 
     # CARLA world and scenario handlers
     world = None
@@ -352,7 +351,7 @@ def _load_and_wait_for_world(self, town, ego_vehicles=None):
         if self._args.sync:
             settings = self.world.get_settings()
             settings.synchronous_mode = True
-            settings.fixed_delta_seconds = 1.0 / self.frame_rate
+            settings.fixed_delta_seconds = 1.0 / self._args.frameRate
             self.world.apply_settings(settings)
 
         CarlaDataProvider.set_client(self.client)
@@ -582,6 +581,8 @@ def main():
     parser.add_argument('--sync', action='store_true',
                         help='Forces the simulation to run synchronously')
     parser.add_argument('--list', action="store_true", help='List all supported scenarios and exit')
+    parser.add_argument('--frameRate', default='20', type=float,
+                        help='Frame rate (Hz) to use in \'sync\' mode (default: 20)')
 
     parser.add_argument(
         '--scenario', help='Name of the scenario to be executed. Use the preposition \'group:\' to run all scenarios of one class, e.g. ControlLoss or FollowLeadingVehicle')
@@ -662,4 +663,4 @@ def main():
 
 
 if __name__ == "__main__":
-    sys.exit(main())
+    sys.exit(main())

srunner/metrics/tools/metrics_parser.py

@@ -194,8 +194,8 @@ def parse_wheels_control(info):
         max_brake_torque=float(info[11]),
         max_handbrake_torque=float(info[13]),
         position=carla.Vector3D(
-            x=float(info[17][1:-1]) / 100,
-            y=float(info[17][:-1]) / 100,
+            x=float(info[15][1:-1]) / 100,
+            y=float(info[16][:-1]) / 100,
             z=float(info[17][:-1]) / 100)
     )
     return wheels_control

srunner/scenariomanager/carla_data_provider.py

@@ -303,8 +303,10 @@ def find_weather_presets():
         """
         Get weather presets from CARLA
         """
+        def name(string):
+            return ' '.join(m.group(0) for m in rgx.finditer(string))
+
         rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)')
-        name = lambda x: ' '.join(m.group(0) for m in rgx.finditer(x))
         presets = [x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)]
         return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets]
 
@@ -679,6 +681,59 @@ def handle_actor_batch(batch, tick=True):
         actors = list(CarlaDataProvider._world.get_actors(actor_ids))
         return actors
 
+    @staticmethod
+    def spawn_actor(bp, spawn_point, must_spawn=False, track_physics=None, attach_to=None, attachment_type=carla.AttachmentType.Rigid):
+        # type: (carla.ActorBlueprint, carla.Waypoint | carla.Transform, bool, bool | None, carla.Actor | None, carla.AttachmentType) -> carla.Actor | None
+        """
+        The method will spawn and return an actor.
+        The actor will need an available blueprint to be created.
+        It can also be attached to a parent with a certain attachment type. 
+
+        Args:
+            bp (carla.ActorBlueprint): The blueprint of the actor to spawn.
+            spawn_point (carla.Transform): The spawn point of the actor.
+            must_spawn (bool, optional): 
+                If True, the actor will be spawned or an exception will be raised.
+                If False, the function returns None if the actor could not be spawned.
+                Defaults to False.
+            track_physics (bool | None, optional): 
+                If True, `get_location`, `get_transform` and `get_velocity` 
+                can be used for this actor.
+                If None, the actor will be tracked if it is a Vehicle or Walker.
+                Defaults to None.
+            attach_to (carla.Actor | None, optional): 
+                The parent object that the spawned actor will follow around. 
+                Defaults to None.
+            attachment_type (carla.AttachmentType, optional): 
+                Determines how fixed and rigorous should be the changes in position 
+                according to its parent object.
+                Defaults to carla.AttachmentType.Rigid.
+
+        Returns:
+            carla.Actor | None: The spawned actor if successful, None otherwise.
+            
+        Raises:
+            RuntimeError: if `must_spawn` is True and the actor could not be spawned.
+        """
+        if isinstance(spawn_point, carla.Waypoint):
+            spawn_point = spawn_point.transform
+        world = CarlaDataProvider.get_world()
+        if must_spawn:
+            actor = world.spawn_actor(bp, spawn_point, attach_to, attachment_type)
+        else:
+            actor = world.try_spawn_actor(bp, spawn_point, attach_to, attachment_type)
+            if actor is None:
+                return None
+        # Register for cleanup
+        CarlaDataProvider._carla_actor_pool[actor.id] = actor
+        if track_physics is None:
+            # Decide
+            track_physics = isinstance(actor, (carla.Vehicle, carla.Walker))
+        if track_physics:
+            # Register for physics
+            CarlaDataProvider.register_actor(actor, spawn_point)
+        return actor
+
     @staticmethod
     def request_new_actor(model, spawn_point, rolename='scenario', autopilot=False,
                           random_location=False, color=None, actor_category="car",
@@ -860,11 +915,11 @@ def request_new_batch_actors(model, amount, spawn_points, autopilot=False,
                     SetAutopilot(FutureActor, autopilot, CarlaDataProvider._traffic_manager_port)))
 
         actors = CarlaDataProvider.handle_actor_batch(batch, tick)
-        for actor in actors:
+        for actor, command in zip(actors, batch):
             if actor is None:
                 continue
             CarlaDataProvider._carla_actor_pool[actor.id] = actor
-            CarlaDataProvider.register_actor(actor, spawn_point)
+            CarlaDataProvider.register_actor(actor, command.transform)
 
         return actors
 

srunner/scenariomanager/scenarioatomics/atomic_behaviors.py

@@ -797,9 +797,9 @@ def initialise(self):
         # At the moment everything besides "shortest" will use the CARLA GlobalPlanner
         grp = CarlaDataProvider.get_global_route_planner()
         route = []
-        for i, _ in enumerate(carla_route_elements):
-            if carla_route_elements[i][1] == "shortest":
-                route.append(carla_route_elements[i][0])
+        for i, element in enumerate(carla_route_elements):
+            if element[1] == "shortest":
+                route.append(element[0])
             else:
                 if i == 0:
                     mmap = CarlaDataProvider.get_map()
@@ -812,12 +812,12 @@ def initialise(self):
                     waypoint = ego_next_wp.transform.location
                 else:
                     waypoint = carla_route_elements[i - 1][0].location
-                waypoint_next = carla_route_elements[i][0].location
+                waypoint_next = element[0].location
                 try:
                     interpolated_trace = grp.trace_route(waypoint, waypoint_next)
                 except networkx.NetworkXNoPath:
                     print("WARNING: No route from {} to {} - Using direct path instead".format(waypoint, waypoint_next))
-                    route.append(carla_route_elements[i][0])
+                    route.append(element[0])
                     continue
                 for wp_tuple in interpolated_trace:
                     # The router sometimes produces points that go backward, or are almost identical

srunner/scenariomanager/scenarioatomics/atomic_trigger_conditions.py

@@ -338,7 +338,7 @@ def update(self):
 
         velocity = CarlaDataProvider.get_velocity(self._actor)
 
-        if velocity > EPSILON:
+        if velocity > 0.1:
             self._start_time = GameTime.get_time()
 
         if GameTime.get_time() - self._start_time > self._duration:

srunner/scenarios/open_scenario.py

@@ -392,9 +392,9 @@ def _create_behavior(self):
                         for actor in sequence.iter("Actors"):
                             for entity in actor.iter("EntityRef"):
                                 entity_name = entity.attrib.get('entityRef', None)
-                                for k, _ in enumerate(joint_actor_list):
-                                    if (joint_actor_list[k] and
-                                            entity_name == joint_actor_list[k].attributes['role_name']):
+                                for k, actor in enumerate(joint_actor_list):
+                                    if (actor and
+                                            entity_name == actor.attributes['role_name']):
                                         actor_ids.append(k)
                                         break
 

srunner/tests/carla_mocks/carla.py

@@ -306,3 +306,8 @@ def __init__(self, id):
                 reponse_list.append(Response(new_actor.id))
 
         return reponse_list
+
+class AttachmentType:
+    Rigid = 0
+    SpringArm = 1
+    SpringArmGhost = 2