[Fix] #37 - Fix build process and run for Carla Agent docker image (#56)

* Leaderboard and Szenariorunner version changed * PythonAPI v0.9.14 added to dockerfile * fix(#37): Fix agent image building * fix(#37): Updated carla simulator to newest leaderboard-2.0 version * fix(#37): Fix simulator ALSA warnings and linter errors * fix: fixed Coordinates in Town 12 and added new dockerfile for submission. (Not adjusted yet) * Remove workaround as its no longer needed after #88 * Remove to have a sperate PR --------- Co-authored-by: samuelkuehnel <[email protected]> Co-authored-by: samuelkuehnel <[email protected]>
una-auxme · Nov 28, 2023 · 7d1d625 · 7d1d625
1 parent 090cbc4
commit 7d1d625
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diff --git a/build/docker-compose.yml b/build/docker-compose.yml
@@ -3,25 +3,28 @@ version: "3"
 services:
   flake8:
     image: alpine/flake8
+    command: .
     volumes:
       - ../:/apps
 
   comlipy:
     build: docker/comlipy
+    command: .
     volumes:
       - ../:/apps
 
   mdlint:
     image: peterdavehello/markdownlint:0.32.2
+    command: markdownlint .
     volumes:
       - ../:/md
 
       # based on https://github.com/ll7/paf21-1/blob/master/scenarios/docker-carla-sim-compose.yml
   carla-simulator:
-    command: /bin/bash CarlaUE4.sh -quality-level=Epic -world-port=2000 -resx=800 -resy=600
+    command: /bin/bash CarlaUE4.sh -quality-level=Epic -world-port=2000 -resx=800 -resy=600 -nosound
     # Use this image version to enable instance segmentation cameras: (it does not match the leaderboard version)
     # image: carlasim/carla:0.9.14
-    image: ghcr.io/nylser/carla:leaderboard
+    image: ghcr.io/una-auxme/paf23:leaderboard-2.0
     init: true
     expose:
       - 2000

diff --git a/build/docker/agent/Dockerfile b/build/docker/agent/Dockerfile
@@ -28,7 +28,7 @@ RUN apt-get install wget unzip
 
 # Download Carla PythonAPI (alternative to getting it from the Carla-Image, which is commented out above)
 # If the PythonAPI/Carla version changes, either update the link, or refer to the comment at the top of this file.
-RUN wget https://github.com/nylser/carla-leaderboard-PythonAPI/releases/download/v1.0.0/PythonAPI.zip \
+RUN wget https://github.com/una-auxme/paf23/releases/download/v0.0.1/PythonAPI_Leaderboard-2.0.zip -O PythonAPI.zip \
   && unzip PythonAPI.zip \
   && rm PythonAPI.zip \
   && mkdir -p /opt/carla \
@@ -65,7 +65,7 @@ ENV CUDA_HOME=/usr/local/cuda-11.7
 
 # override python path, carla pip package path didn't exist and was using Python 3.7 instead of 2.7
 ENV PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages
-ENV PYTHONPATH=$PYTHONPATH:/opt/carla/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egg:/opt/carla/PythonAPI/carla
+ENV PYTHONPATH=$PYTHONPATH:/opt/carla/PythonAPI/carla/dist/carla-0.9.14-py3.7-linux-x86_64.egg:/opt/carla/PythonAPI/carla
 
 # install mlocate, pip, wget, git and some ROS dependencies for building the CARLA ROS bridge
 RUN apt-get update && apt-get install -y \
@@ -111,27 +111,25 @@ ENV PATH=$PATH:/home/$USERNAME/.local/bin
 
 # install simple_pid
 RUN python -m pip install pip --upgrade \
-    && python -m pip install simple_pid pygame transformations
+    && python -m pip install simple_pid pygame transformations roslibpy lxml
 
 # install the scenario runner from GitHub leaderboard-2.0 branch
 ENV CARLA_ROOT=/opt/carla
 ENV SCENARIO_RUNNER_ROOT=/opt/scenario_runner
 RUN sudo mkdir $SCENARIO_RUNNER_ROOT && sudo chown $USERNAME:$USERNAME $SCENARIO_RUNNER_ROOT
-RUN git clone https://github.com/carla-simulator/scenario_runner.git $SCENARIO_RUNNER_ROOT && cd $SCENARIO_RUNNER_ROOT && git checkout 7b5894c8a1d6886405ff5c2126bbf5832b274275 && cd -
+RUN git clone -b leaderboard-2.0 --single-branch https://github.com/carla-simulator/scenario_runner.git $SCENARIO_RUNNER_ROOT
 RUN echo 'pexpect' >> $SCENARIO_RUNNER_ROOT/requirements.txt && \
     python -m pip install -r $SCENARIO_RUNNER_ROOT/requirements.txt
 
 # install the leaderboard from GitHub leaderboard-2.0 branch
 ENV LEADERBOARD_ROOT=/opt/leaderboard
 RUN sudo mkdir $LEADERBOARD_ROOT && sudo chown $USERNAME:$USERNAME $LEADERBOARD_ROOT
-RUN git clone https://github.com/carla-simulator/leaderboard.git $LEADERBOARD_ROOT && cd $LEADERBOARD_ROOT && git checkout 3f27e94446cbd53225715258c710bec9c051c5b7 && cd -
+RUN git clone -b leaderboard-2.0 --single-branch https://github.com/carla-simulator/leaderboard.git $LEADERBOARD_ROOT
 RUN python -m pip install -r $LEADERBOARD_ROOT/requirements.txt
 RUN sudo mkdir /opt/leaderboard-py3 && sudo chown $USERNAME:$USERNAME /opt/leaderboard-py3 && \
     ln -s $LEADERBOARD_ROOT/leaderboard /opt/leaderboard-py3/leaderboard && \
     ln -s $SCENARIO_RUNNER_ROOT/srunner /opt/leaderboard-py3/srunner
 
-RUN python -m pip install roslibpy lxml
-
 # environment variables for the leaderboard_evaluator
 ENV ROUTES=$LEADERBOARD_ROOT/data/routes_devtest.xml
 ENV REPETITIONS=1
@@ -163,7 +161,7 @@ COPY --chown=$USERNAME:$USERNAME ./code/requirements.txt /workspace/
 ENV TORCH_CUDA_ARCH_LIST="5.2 6.0 6.1 7.0 7.5 8.0 8.6+PTX"
 ENV IABN_FORCE_CUDA=1
 
-RUN source ~/.bashrc && cat /workspace/requirements.txt | xargs -n 1 -L 1 pip install
+RUN source ~/.bashrc && pip install -r /workspace/requirements.txt
 
 # Add agent code
 COPY --chown=$USERNAME:$USERNAME ./code /workspace/code/

diff --git a/code/perception/src/coordinate_transformation.py b/code/perception/src/coordinate_transformation.py
@@ -25,7 +25,7 @@ class GeoRef(Enum):
     TOWN09 = 0, 0, 0  # lat =, lon =, alt = #Town09/HD not found
     TOWN10 = 0, 0, 0  # Town10HD
     TOWN11 = 0, 0, 0  # lat =, lon =, alt = #Town11/HD not found
-    TOWN12 = 35.25000, -101.87500, 331.00000
+    TOWN12 = 0, 0, 0  # 35.25000, -101.87500, 331.00000
 
 
 a = 6378137

diff --git a/code/requirements.txt b/code/requirements.txt
@@ -6,8 +6,6 @@ torchaudio==0.13.1
 pytorch-lightning==1.8.5
 opencv-python==4.7.0.68
 dvclive==1.3.2
-torch==1.13.1
-torchvision==0.14.1
 ruamel.yaml==0.17.21
 scipy==1.10.0
 xmltodict==0.13.0