Adding new parameters and script to stop_simulation (#336)

ail_vru_uc1_scenario/cdasim_config/.env

@@ -16,4 +16,4 @@ VEHICLE_SELECTED_ROUTE=vru_uc1_north
 # SCENARIO: South to North through (B)
 SIMULATION_SCENARIO="VulnerableRoadUserCollision_ThreeTrucks_1"
 VEHICLE_SPAWN_POINT="258.12,-125,0,0,0,90"
-VEHICLE_ENGAGE_DELAY='105'
+VEHICLE_ENGAGE_DELAY='80'

ail_vru_uc1_scenario/cdasim_config/carma-platform/yield_plugin/parameters.yaml

@@ -11,23 +11,23 @@ on_route_vehicle_collision_horizon_in_s: 10.0
 # Minimum speed for moving obstacle
 # Units: m/s
 # Value type: Desired
-min_obstacle_speed_in_ms: 0.5
+min_obstacle_speed_in_ms: 0.25
 # Minimum object avoidance planning time
 # Units: s
 # Value type: Desired
 min_obj_avoidance_plan_time_in_s: 2.0
 # Deceleration value used for yielding trajectories
 # Units: m/s^2
 # Value type: Desired
-yield_max_deceleration_in_ms2: 9.0
+yield_max_deceleration_in_ms2: 3.0
 # Minimum safety gap with an Object/Obstacle
 # Units: meters
 # Value type: Desired
-minimum_safety_gap_in_meters: 10.0
+minimum_safety_gap_in_meters: 4.0
 # Maximum speed value to consider the ego vehicle stopped
 # Units: m/s
 # Value type: Desired
-max_stop_speed_in_ms: 1.0
+max_stop_speed_in_ms: 0.25
 # parameter to enable cooperative behavior
 # Value type: Desired
 enable_cooperative_behavior: false

ail_vru_uc1_scenario/cdasim_config/stop_simulation

@@ -1,15 +1,25 @@
 #!/bin/bash
 # Script to stop simulation.
 # Pulls all Kafka message data
+# Pulls RTF data from MOSAIC in cdasim container
 # Stops and removes all docker containers
 # Prunes all Kafka related volumes
 if ! [ -f /opt/carma-streets/scripts/collect_kafka_logs.py ] ; then
   echo "Installing collect_kafka_logs.py into /opt/carma-streets/scripts/ ...."
   wget -q https://raw.githubusercontent.com/usdot-fhwa-stol/carma-streets/release/lavida/collect_kafka_logs.py -P /opt/carma-streets/scripts
+  sudo chmod 777 /opt/carma-streets/scripts/collect_kafka_logs.py
+fi
+if ! [ -f /opt/carma-simulation/scripts/extract_rtf_data ] ; then
+  echo "Installing extract_rtf_data into /opt/carma-simulation/scripts/ ...."
+  wget -q https://raw.githubusercontent.com/usdot-fhwa-stol/carma-analytics-fotda/release/lavida/vru_use_case_scripts/extract_rtf_data -P /opt/carma-simulation/scripts
+  sudo chmod 777 /opt/carma-simulation/scripts/extract_rtf_data
 fi
 filename=carma_streets_kafka_"$(date +%F_%H-%M-%S)"
 echo "Collecting CARMA Streets Kafka messages into ${filename}.zip"
 python3 /opt/carma-streets/scripts/collect_kafka_logs.py --zip True "${filename}"
+filename_rtf=cdasim_rtf_data_"$(date +%F_%H-%M-%S)"
+echo "Collecting RTF data into ${filename_rtf}.csv"
+docker logs carma-simulation 2>&1 |  /opt/carma-simulation/scripts/extract_rtf_data > ${filename_rtf}.csv
 echo "Stopping simulation ..."
 carma stop all
 # Kafka message volumes retain messages and consumer offsets from previous run