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Upgrade to Carla 0.9.10 #16

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04c6c4e
Initial changes to upgrade oatomobile for the latest carla (0.9.10)
fnozarian Nov 13, 2020
7bd41ad
Added support for starting/stopping Carla server
fnozarian Nov 14, 2020
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12 changes: 6 additions & 6 deletions README.md
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Expand Up @@ -71,18 +71,18 @@ We have tested OATomobile on Python 3.5.
1. To install the core libraries (including [CARLA], the backend simulator):

```bash
# The path to download CARLA 0.9.6.
# The path to download CARLA 0.9.10.
export CARLA_ROOT=...
mkdir -p $CARLA_ROOT

# Downloads hosted binaries.
wget http://carla-assets-internal.s3.amazonaws.com/Releases/Linux/CARLA_0.9.6.tar.gz
wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.10.tar.gz

# CARLA 0.9.6 installation.
tar -xvzf CARLA_0.9.6.tar.gz -C $CARLA_ROOT
# CARLA 0.9.10 installation.
tar -xvzf CARLA_0.9.10.tar.gz -C $CARLA_ROOT

# Installs CARLA 0.9.6 Python API.
easy_install $CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.6-py3.5-linux-x86_64.egg
# Installs CARLA 0.9.10 Python API.
easy_install $CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg
```

1. To install the OATomobile core API:
Expand Down
257 changes: 16 additions & 241 deletions oatomobile/baselines/rulebased/autopilot/agent.py
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Expand Up @@ -24,16 +24,12 @@

import carla
import oatomobile
from oatomobile import envs
from oatomobile.simulators.carla import defaults
from oatomobile.utils import carla as cutil

try:
from agents.navigation.local_planner import \
LocalPlanner # pylint: disable=import-error
from agents.tools.misc import \
compute_magnitude_angle # pylint: disable=import-error
from agents.tools.misc import \
is_within_distance_ahead # pylint: disable=import-error
from agents.navigation.behavior_agent import BehaviorAgent
except ImportError:
raise ImportError("Missing CARLA installation, "
"make sure the environment variable CARLA_ROOT is provided "
Expand All @@ -45,19 +41,13 @@ class AutopilotAgent(oatomobile.Agent):
`carla.PythonAPI.agents.navigation.basic_agent.BasicAgent`"""

def __init__(self,
environment: oatomobile.envs.CARLAEnv,
environment: envs.CARLAEnv,
*,
proximity_tlight_threshold: float = 5.0,
proximity_vehicle_threshold: float = 10.0,
noise: float = 0.1) -> None:
noise: float = 0.0) -> None: # TODO(farzad) why should we have noise=0.1 for autopilot?
"""Constructs an autopilot agent.

Args:
environment: The navigation environment to spawn the agent.
proximity_tlight_threshold: The threshold (in metres) to
the traffic light.
proximity_vehicle_threshold: The threshold (in metres) to
the front vehicle.
noise: The percentage of random actions.
"""
super(AutopilotAgent, self).__init__(environment=environment)
Expand All @@ -66,36 +56,18 @@ def __init__(self,
self._vehicle = self._environment.simulator.hero
self._world = self._vehicle.get_world()
self._map = self._world.get_map()

# Agent hyperparametres.
self._proximity_tlight_threshold = proximity_tlight_threshold
self._proximity_vehicle_threshold = proximity_vehicle_threshold
self._hop_resolution = 2.0
self._path_seperation_hop = 2
self._path_seperation_threshold = 0.5
self._target_speed = defaults.TARGET_SPEED
self._agent = BehaviorAgent(self._vehicle, behavior='normal')
self._noise = noise

# The internal state of the agent.
self._last_traffic_light = None
spawn_points = self._map.get_spawn_points()
random.shuffle(spawn_points)

# Local planner, including the PID controllers.
dt = self._vehicle.get_world().get_settings().fixed_delta_seconds
lateral_control_dict = defaults.LATERAL_PID_CONTROLLER_CONFIG.copy()
lateral_control_dict.update({"dt": dt})
# TODO(filangel): tune the parameters for FPS != 20
self._local_planner = LocalPlanner(
self._vehicle,
opt_dict=dict(
target_speed=self._target_speed,
dt=dt,
),
)
if spawn_points[0].location != self._agent.vehicle.get_location():
destination = spawn_points[0].location
else:
destination = spawn_points[1].location

# Set agent's dsestination.
if hasattr(self._environment.unwrapped.simulator, "destination"):
self._set_destination(
self._environment.unwrapped.simulator.destination.location)
self._agent.set_destination(self._agent.vehicle.get_location(), destination, clean=True)

def act(
self,
Expand Down Expand Up @@ -123,209 +95,12 @@ def _run_step(
) -> carla.VehicleControl: # pylint: disable=no-member
"""Executes one step of navigation."""

# is there an obstacle in front of us?
hazard_detected = False

# retrieve relevant elements for safe navigation, i.e.: traffic lights
# and other vehicles
actor_list = self._world.get_actors()
vehicle_list = actor_list.filter("*vehicle*")
lights_list = actor_list.filter("*traffic_light*")

# check possible obstacles
vehicle_state, vehicle = self._is_vehicle_hazard(vehicle_list)
if vehicle_state:
if debug:
logging.debug('!!! VEHICLE BLOCKING AHEAD [{}])'.format(vehicle.id))

hazard_detected = True

# check for the state of the traffic lights
light_state, traffic_light = self._is_light_red(lights_list)
if light_state:
if debug:
logging.debug('=== RED LIGHT AHEAD [{}])'.format(traffic_light.id))
self._agent.update_information()

hazard_detected = True
speed_limit = self._vehicle.get_speed_limit()
self._agent.get_local_planner().set_speed(speed_limit)

if hazard_detected:
control = carla.VehicleControl() # pylint: disable=no-member
control.steer = 0.0
control.throttle = 0.0
control.brake = 1.0
control.hand_brake = False
else:
# standard local planner behavior
control = self._local_planner.run_step(debug=debug)
control = self._agent.run_step()

return control

def _set_destination(
self,
destination: carla.Location, # pylint: disable=no-member
) -> None:
"""Generates the global plan for the agent.

Args:
destination: The location of the new destination.
"""
# Set vehicle's current location as start for the plan.
origin = self._vehicle.get_location()
start_waypoint = self._map.get_waypoint(origin).transform.location
end_waypoint = self._map.get_waypoint(destination).transform.location
# Calculate the plan.
waypoints, roadoptions, _ = cutil.global_plan(
world=self._world,
origin=start_waypoint,
destination=end_waypoint,
)
# Mutate the local planner's global plan.
self._local_planner.set_global_plan(list(zip(waypoints, roadoptions)))

def _is_vehicle_hazard(
self,
vehicle_list,
) -> Tuple[bool, Optional[carla.Vehicle]]: # pylint: disable=no-member
"""It detects if a vehicle in the scene can be dangerous for the ego
vehicle's current plan.

Args:
vehicle_list: List of potential vehicles (obstancles) to check.

Returns:
vehicle_ahead: If True a vehicle ahead blocking us and False otherwise.
vehicle: The blocker vehicle itself.
"""

ego_vehicle_location = self._vehicle.get_location()
ego_vehicle_waypoint = self._map.get_waypoint(ego_vehicle_location)

for target_vehicle in vehicle_list:
# do not account for the ego vehicle.
if target_vehicle.id == self._vehicle.id:
continue

# if the object is not in our lane it's not an obstacle.
target_vehicle_waypoint = self._map.get_waypoint(
target_vehicle.get_location())
if target_vehicle_waypoint.road_id != ego_vehicle_waypoint.road_id or \
target_vehicle_waypoint.lane_id != ego_vehicle_waypoint.lane_id:
continue

loc = target_vehicle.get_location()
if is_within_distance_ahead(
loc,
ego_vehicle_location,
self._vehicle.get_transform().rotation.yaw,
self._proximity_vehicle_threshold,
):
return (True, target_vehicle)

return (False, None)

def _is_light_red(
self,
lights_list,
) -> Tuple[bool, Any]: # pylint: disable=no-member
"""It detects if the light in the scene is red.

Args:
lights_list: The list containing TrafficLight objects.

Returns:
light_ahead: If True a traffic light ahead is read and False otherwise.
traffic_light: The traffic light object ahead itself.
"""
if self._map.name == 'Town01' or self._map.name == 'Town02':
return self._is_light_red_europe_style(lights_list)
else:
return self._is_light_red_us_style(lights_list)

def _is_light_red_europe_style(self, lights_list):
"""This method is specialized to check European style traffic lights."""
ego_vehicle_location = self._vehicle.get_location()
ego_vehicle_waypoint = self._map.get_waypoint(ego_vehicle_location)

for traffic_light in lights_list:
object_waypoint = self._map.get_waypoint(traffic_light.get_location())
if object_waypoint.road_id != ego_vehicle_waypoint.road_id or \
object_waypoint.lane_id != ego_vehicle_waypoint.lane_id:
continue

loc = traffic_light.get_location()
if is_within_distance_ahead(
loc,
ego_vehicle_location,
self._vehicle.get_transform().rotation.yaw,
self._proximity_tlight_threshold,
):
if traffic_light.state == carla.TrafficLightState.Red: # pylint: disable=no-member
return (True, traffic_light)

return (False, None)

def _is_light_red_us_style(self, lights_list, debug=False):
"""This method is specialized to check US style traffic lights."""
ego_vehicle_location = self._vehicle.get_location()
ego_vehicle_waypoint = self._map.get_waypoint(ego_vehicle_location)

if ego_vehicle_waypoint.is_junction:
# It is too late. Do not block the intersection! Keep going!
return (False, None)

if self._local_planner.target_waypoint is not None:
if self._local_planner.target_waypoint.is_junction:
min_angle = 180.0
sel_magnitude = 0.0
sel_traffic_light = None
for traffic_light in lights_list:
loc = traffic_light.get_location()
magnitude, angle = compute_magnitude_angle(
loc, ego_vehicle_location,
self._vehicle.get_transform().rotation.yaw)
if magnitude < 60.0 and angle < min(25.0, min_angle):
sel_magnitude = magnitude
sel_traffic_light = traffic_light
min_angle = angle

if sel_traffic_light is not None:
if debug:
logging.debug('=== Magnitude = {} | Angle = {} | ID = {}'.format(
sel_magnitude, min_angle, sel_traffic_light.id))

if self._last_traffic_light is None:
self._last_traffic_light = sel_traffic_light

if self._last_traffic_light.state == carla.TrafficLightState.Red: # pylint: disable=no-member
return (True, self._last_traffic_light)
else:
self._last_traffic_light = None

return (False, None)

def _get_trafficlight_trigger_location(
self,
traffic_light,
) -> carla.Location: # pylint: disable=no-member
"""Calculates the yaw of the waypoint that represents the trigger volume of
the traffic light."""

def rotate_point(point, radians):
"""Rotates a given point by a given angle."""
rotated_x = math.cos(radians) * point.x - math.sin(radians) * point.y
rotated_y = math.sin(radians) * point.x - math.cos(radians) * point.y

return carla.Vector3D(rotated_x, rotated_y, point.z) # pylint: disable=no-member

base_transform = traffic_light.get_transform()
base_rot = base_transform.rotation.yaw
area_loc = base_transform.transform(traffic_light.trigger_volume.location)
area_ext = traffic_light.trigger_volume.extent

point = rotate_point(
carla.Vector3D(0, 0, area_ext.z), # pylint: disable=no-member
math.radians(base_rot),
)
point_location = area_loc + carla.Location(x=point.x, y=point.y) # pylint: disable=no-member

return carla.Location(point_location.x, point_location.y, point_location.z) # pylint: disable=no-member
12 changes: 10 additions & 2 deletions oatomobile/baselines/rulebased/autopilot/run.py
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Expand Up @@ -67,7 +67,11 @@
default=False,
help="If True it spawn the `PyGame` display.",
)

flags.DEFINE_bool(
name="off_screen",
default=False,
help="If True it runs the Carla server in off-screen mode",
)

def main(argv):
# Debugging purposes.
Expand All @@ -80,13 +84,15 @@ def main(argv):
max_episode_steps = FLAGS.max_episode_steps
output_dir = FLAGS.output_dir
render = FLAGS.render
off_screen = FLAGS.off_screen

try:
# Setups the environment.
env = oatomobile.envs.CARLAEnv(
town=town,
fps=20,
sensors=sensors,
off_screen=off_screen
)
if max_episode_steps is not None:
env = oatomobile.FiniteHorizonWrapper(
Expand All @@ -95,7 +101,9 @@ def main(argv):
)
if output_dir is not None:
env = oatomobile.SaveToDiskWrapper(env, output_dir=output_dir)
env = oatomobile.MonitorWrapper(env, output_fname="tmp/yoo.gif")

# MonitorWrapper is incompatible with render_mode = human. Either it or --render should be used at the same time.
env = oatomobile.MonitorWrapper(env, output_fname="carla_dataset/carla_dataset.gif")

# Runs the environment loop.
oatomobile.EnvironmentLoop(
Expand Down
9 changes: 7 additions & 2 deletions oatomobile/baselines/rulebased/blind/run.py
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Expand Up @@ -70,7 +70,11 @@
default=False,
help="If True it spawn the `PyGame` display.",
)

flags.DEFINE_bool(
name="off_screen",
default=False,
help="If True it runs the Carla server in off-screen mode",
)

def main(argv):
# Debugging purposes.
Expand All @@ -83,7 +87,7 @@ def main(argv):
max_episode_steps = FLAGS.max_episode_steps
output_dir = FLAGS.output_dir
render = FLAGS.render

off_screen = FLAGS.off_screen
try:
# Setups the environment.
env = oatomobile.envs.CARLANavEnv(
Expand All @@ -92,6 +96,7 @@ def main(argv):
destination=25,
fps=20,
sensors=sensors,
off_screen=off_screen
)
if max_episode_steps is not None:
env = oatomobile.FiniteHorizonWrapper(
Expand Down
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