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

[MaxJa4]

Description

This PR fixes the overall Carla Agent building process and uses the newest leaderboard-2.0 version:

• Updated PythonAPI to the special leaderboard-2.0 v0.9.14-Version (hosted in this repo now as release)
• Updated leaderboard + scenario-runner to latest leaderboard-2.0 version
• Small bugfixes and improvements to Agent-Dockerfile
• Rebuilt Carla Simulator to use the newest leaderboard-2.0 version (located here) -> also 8GB smaller now
• Fixed linter error messages on b5 run
• Fixed ALSA error messages from Unreal-Engine on b5 run

--> Building and running works again with the newest updates for leaderboard-2.0!

Be aware, that the current implementation (PAF22) is broken! The agent doesn't leave its parking spot at the beginning, probably because there's a lot more traffic now.

The rebuilt Carla Simulator Docker image was downloaded from here and then built with the included Dockerfile.

Fixes #37 #76

Authors: @samuelkuehnel @MaxJa4

Type of change

• Bug fix (non-breaking change which fixes an issue)

Does this PR introduce a breaking change?

No, it fixes

Most important changes

Newest leaderboard-2.0 files and working agent docker build & run.

Checklist:

• My code follows the style guidelines of this project
• I have performed a self-review of my own code
• I have commented my code, particularly in hard-to-understand areas
• My changes generate no new warnings
• New and existing unit tests pass locally with my changes (might be obsolete with CI later on)

[MaxJa4]

@ll7 @JulianTrommer There is a new CARLA simulator version for Leaderboard-2.0 available (the one from ghcr.io/nylser/carla:leaderboard is from Oct. 22) and needs to be updated along with the PythonAPI (its from the same image and should match). Also saves ~8GB of image space.

For now, I uploaded it to my Docker repo finalend4/paf23:leaderboard-2.0, but it would be best to upload it here in this repo. I can't do it myself as the repo's GitHub Token is needed.

FYI: The new leaderboard simulator version comes with a few breaking changes, one of which: a lot more traffic. Will document that in this PR after everything is done here.

cc @samuelkuehnel

[ll7]

I am currently working on pushing the image. I will notify you as soon as the image is online.

[ll7]

The package is now online: https://github.com/una-auxme/paf23/pkgs/container/paf23/148387355?tag=leaderboard-2.0

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.005892
Avg. route completion	0.02
Avg. infraction penalty	0.348058
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	709.196
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.001
Route deviations	0.0
Route timeouts	709.196
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	709.196
Min speed infractions	0.0

[MaxJa4]

This PR is currently blocked by #76 and also waits for merging of #88 (hence the failing CI of 7a3129f).

Do not merge (yet)

[MaxJa4]

The non-driving agent is fixed with 603011e.
After #88 is merged, this PR is ready for merging as well.

[MaxJa4]

TODO: Rebase to current main

Done!

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.0
Avg. route completion	0.0
Avg. infraction penalty	0.7
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	0.0
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	2000.0
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	2000.0
Min speed infractions	0.0

[samuelkuehnel]

Changes work!