-
Notifications
You must be signed in to change notification settings - Fork 362
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge branch 'master' into feature/variable_frame_rate
- Loading branch information
Showing
308 changed files
with
106,549 additions
and
21,154 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,123 @@ | ||
# osc2-runner | ||
|
||
We use OpenScenario 2.0 as the scenario description language specification to design and implement the corresponding compilation system, which can automatically convert the test scenario described with OpenScenario 2.0 into a test scenario based on scenario runner, so as to use carla for autonomous driving testing. | ||
|
||
## Installation | ||
|
||
**1. Install JDK** | ||
|
||
``` | ||
sudo apt install openjdk-17-jdk | ||
``` | ||
Confirm installation: | ||
``` | ||
$ java -version | ||
``` | ||
Output: | ||
``` | ||
openjdk version "17.0.5" 2022-10-18 | ||
OpenJDK Runtime Environment (build 17.0.5+8-Ubuntu-2ubuntu120.04) | ||
OpenJDK 64-Bit Server VM (build 17.0.5+8-Ubuntu-2ubuntu120.04, mixed mode, sharing) | ||
``` | ||
|
||
**3、Install Antlr 4.10.1** | ||
|
||
``` | ||
sudo apt install curl | ||
curl -O https://www.antlr.org/download/antlr-4.10.1-complete.jar | ||
``` | ||
|
||
Put the .jar file into local/lib | ||
``` | ||
$ sudo cp antlr-4.10.1-complete.jar /usr/local/lib/ | ||
``` | ||
|
||
The following three steps are used to configure environment variables and create aliases so that antlr4 can be easily used from the command line. | ||
``` | ||
$ sudo gedit ~/.bashrc | ||
``` | ||
Add the following at the end: | ||
``` | ||
export CLASSPATH=".:/usr/local/lib/antlr-4.10.1-complete.jar:$CLASSPATH" | ||
alias antlr4='java -jar /usr/local/lib/antlr-4.10.1-complete.jar' | ||
alias grun='java org.antlr.v4.gui.TestRig' | ||
``` | ||
And then: | ||
``` | ||
source ~/.bashrc | ||
``` | ||
|
||
Enter antlr4 for verifying in the terminal: | ||
``` | ||
$ antlr4 | ||
ANTLR Parser Generator Version 4.10.1 | ||
-o ___ specify output directory where all output is generated | ||
-lib ___ specify location of grammars, tokens files | ||
-atn generate rule augmented transition network diagrams | ||
-encoding ___ specify grammar file encoding; e.g., euc-jp | ||
-message-format ___ specify output style for messages in antlr, gnu, vs2005 | ||
-long-messages show exception details when available for errors and warnings | ||
-listener generate parse tree listener (default) | ||
-no-listener don't generate parse tree listener | ||
-visitor generate parse tree visitor | ||
-no-visitor don't generate parse tree visitor (default) | ||
-package ___ specify a package/namespace for the generated code | ||
-depend generate file dependencies | ||
-D<option>=value set/override a grammar-level option | ||
-Werror treat warnings as errors | ||
-XdbgST launch StringTemplate visualizer on generated code | ||
-XdbgSTWait wait for STViz to close before continuing | ||
-Xforce-atn use the ATN simulator for all predictions | ||
-Xlog dump lots of logging info to antlr-timestamp.log | ||
-Xexact-output-dir all output goes into -o dir regardless of paths/package | ||
``` | ||
|
||
**4、Install antlr4 runtime** | ||
``` | ||
pip install antlr4-python3-runtime==4.10 | ||
``` | ||
|
||
**5、Install python dependency** | ||
``` | ||
pip install -r requirements.txt | ||
``` | ||
|
||
**6.Install graphviz** | ||
|
||
``` | ||
sudo apt-get install graphviz | ||
``` | ||
|
||
|
||
**7、Configurate carla** | ||
|
||
(1) Download [carla release](https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.13.tar.gz) | ||
|
||
|
||
(2) Extract the carla installation package to a directory. | ||
|
||
On Ubuntu systems, the Carla environment variable is configured as follows: | ||
```bash | ||
export CARLA_ROOT=/home/dut-aiid/CARLA_0.9.13 | ||
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egg:${CARLA_ROOT}/PythonAPI/carla/agents:${CARLA_ROOT}/PythonAPI/carla/agents/navigation:${CARLA_ROOT}/PythonAPI/carla:${CARLA_ROOT}/PythonAPI/examples:${CARLA_ROOT}/PythonAPI | ||
``` | ||
|
||
## Quickstart | ||
|
||
**1、Run carla** | ||
|
||
```bash | ||
cd /home/xxx/CARLA_0.9.13 | ||
./CarlaUE4.sh | ||
``` | ||
|
||
**2、Start manual_control** | ||
|
||
``` | ||
python manual_control.py -a --rolename=ego_vehicle | ||
``` | ||
|
||
**3、Run a OpenSCENARIO 2.0 scenario** | ||
``` | ||
python scenario_runner.py --sync --openscenario2 srunner/examples/cut_in_and_slow_right.osc --reloadWorld | ||
``` |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Binary file not shown.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.