Merge pull request #290 from una-auxme/277-feature-run-agent-containe…

…r-without-spawning-a-vehicle

277 feature run agent container without spawning a vehicle

build/agent_service.yaml

@@ -27,9 +27,9 @@ services:
       - CARLA_SIM_HOST=carla-simulator
       - ROS_HOSTNAME=agent
       - XDG_RUNTIME_DIR=/tmp/runtime-carla
-      # - ROUTE=/opt/leaderboard/data/routes_devtest.xml
+      - ROUTE=/opt/leaderboard/data/routes_devtest.xml
       # Simple route without special scenarios
-      - ROUTE=/workspace/code/routes/routes_simple.xml
+      # - ROUTE=/workspace/code/routes/routes_simple.xml
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
       # if you change the volume here also change the copy command

build/docker-compose_dev.yaml

@@ -8,4 +8,6 @@ services:
     extends:
       file: agent_service.yaml
       service: agent
-    command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch"
+    environment:
+      - ROUTE=/workspace/code/routes/routes_simple.xml
+    command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=$${ROUTE} --agent=/workspace/code/agent/src/agent/agent.py --host=$${CARLA_SIM_HOST} --track=MAP"

build/docker-compose_dev_offline.yaml

@@ -0,0 +1,26 @@
+services:
+  agent-dev:
+    build:
+      dockerfile: build/docker/agent-dev/Dockerfile
+      context: ../
+      args:
+        - USER_UID=${DOCKER_HOST_UNIX_UID:-1000}
+        - USER_GID=${DOCKER_HOST_UNIX_GID:-1000}
+    init: true
+    tty: true
+    shm_size: 2gb
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              capabilities: [ gpu ]
+    volumes:
+      - ../:/workspace
+    environment:
+      - DISPLAY=${DISPLAY}
+    network_mode: host
+    privileged: true
+    entrypoint: ["/dev_entrypoint.sh"]
+    command: bash
+

build/docker/agent-dev/Dockerfile

@@ -0,0 +1,27 @@
+# syntax = edrevo/dockerfile-plus
+
+INCLUDE+ ./build/docker/agent/Dockerfile
+
+# Add development tools
+RUN sudo apt-get update && sudo apt-get install -y \
+    vim \
+    nano \
+    tmux \
+    git \
+    curl \
+    htop
+
+# Create a development entry point script
+# RUN echo '#!/bin/bash\n\
+# source /opt/ros/noetic/setup.bash\n\
+# source /catkin_ws/devel/setup.bash\n\
+# exec "$@"' > /dev_entrypoint.sh && \
+#     chmod +x /dev_entrypoint.sh
+
+ADD ./build/docker/agent-dev/dev_entrypoint.sh /dev_entrypoint.sh
+
+# Set the development entry point
+ENTRYPOINT ["/dev_entrypoint.sh"]
+
+# Default to bash if no command is provided
+CMD ["bash"]

build/docker/agent-dev/dev_entrypoint.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+
+# Source ROS setup
+source /opt/ros/noetic/setup.bash
+
+# Source the catkin workspace setup
+source /catkin_ws/devel/setup.bash
+
+# Set up any additional environment variables if needed
+export CARLA_ROOT=/opt/carla
+export SCENARIO_RUNNER_ROOT=/opt/scenario_runner
+export LEADERBOARD_ROOT=/opt/leaderboard
+
+# Execute the command passed to the script, or start a bash session if no command was given
+if [ $# -eq 0 ]; then
+    exec bash
+else
+    exec "$@"
+fi

code/acting/src/acting/stanley_controller.py

@@ -80,7 +80,7 @@ def loop(timer_event=None):
             :return:
             """
             if self.__path is None:
-                self.logwarn("StanleyController hasn't received a path yet"
+                self.logwarn("StanleyController hasn't received a path yet "
                              "and can therefore not publish steering")
                 return
             if self.__position is None:

code/agent/config/dev_objects.json

@@ -112,7 +112,7 @@
             "yaw": 0.0
           },
           "range": 50,
-          "rotation_frequency": 10,
+          "rotation_frequency": 20,
           "channels": 64,
           "upper_fov": 10,
           "lower_fov": -30,

code/agent/launch/dev.launch

@@ -15,7 +15,7 @@
 
   <!-- Synchronous mode-->
   <arg name='synchronous_mode_wait_for_vehicle_control_command' default='False'/>
-  <arg name='fixed_delta_seconds' default='0.1'/>
+  <arg name='fixed_delta_seconds' default='0.05'/>
 
 
   <include file="$(find carla_ros_bridge)/launch/carla_ros_bridge.launch">

code/test-route/launch/test-route.launch

@@ -1,6 +1,6 @@
 <launch>
   <arg name="role_name" default="hero" />
-  <arg name="control_loop_rate" default="0.02" />
+  <arg name="control_loop_rate" default="0.05" />
 
   <node pkg="test-route" type="test_route.py" name="test_route" output="screen">
     <param name="control_loop_rate" value="$(arg control_loop_rate)" />

code/test-route/src/test_route.py

@@ -115,23 +115,29 @@ def wait_for_hero(self):
                 self.hero = self.hero[0]
                 break
 
-    def set_spectator(self):
+    def set_spectator(self, set_rotation=False):
         transform = self.hero.get_transform()
-        location = carla.Location(x=transform.location.x,
-                                  y=transform.location.y,
-                                  z=transform.location.z + 2)
-        self.spectator.set_transform(
-            carla.Transform(
-                location, carla.Rotation(
-                    pitch=transform.rotation.pitch - 15,
-                    yaw=transform.rotation.yaw,
-                    roll=transform.rotation.roll
+        location = carla.Location(
+            x=transform.location.x,
+            y=transform.location.y,
+            z=transform.location.z + 2)
+
+        if set_rotation:
+            self.spectator.set_transform(
+                carla.Transform(
+                    location, carla.Rotation(
+                        pitch=transform.rotation.pitch - 15,
+                        yaw=transform.rotation.yaw,
+                        roll=transform.rotation.roll
+                    )
                 )
             )
-        )
+        else:
+            self.spectator.set_location(location)
 
     def run(self):
         self.loginfo('Test-Route node running')
+        self.set_spectator(set_rotation=True)
 
         def loop(timer_event=None):
             self.set_spectator()

dc-run-file.sh

@@ -0,0 +1,12 @@
+#!/bin/bash
+
+# enable xhost
+./xhost_enable.sh
+
+# run docker compose
+if [ $# -eq 0 ]; then
+    echo "Usage: $0 <path-to-docker-compose-file>"
+    exit 1
+fi
+
+docker compose -f "$1" up