Merge pull request #17 from CesarLiu/dev_2_new

adapted carla-interface to conform to latest release of carla and BARK

Author: CesarLiu

.bazelrc

@@ -3,4 +3,4 @@ test --test_output=errors --action_env="GTEST_COLOR=1"
 # Force bazel output to use colors (good for jenkins) and print useful errors.
 common --color=yes
 
-build --cxxopt='-std=c++14'
+build --cxxopt='-std=c++17'

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "python.linting.flake8Enabled": false,
+    "python.linting.pylintEnabled": true,
+    "python.linting.enabled": true
+}

README.md

@@ -1,26 +1,26 @@
 # carla-interface
-
+The carla-interface is adapted to the latest release of carla (0.9.13) and master branch of BARK.
 ## Screenshot
 
 ![example](https://github.com/bark-simulator/carla-interface/blob/master/doc/npc_example.png)
 
 ## Requirement
-- Ubuntu 16.04 or later (recommended)
-- Nvidia driver v384.11 or later
+This repository has the same environment with BARK. If you haven't yet used BARK, check here to [install BARK](https://github.com/bark-simulator/bark/blob/master/docs/source/installation.md)
+- Ubuntu 18.04 or later
+- Nvidia driver
 - OpenGL (to run with CPU only)
-- Bazel 0.25.0 or later (requires Java)
+- Bazel 
 - virtualenv
 
 ## Installation
-[bazel install instruction](https://docs.bazel.build/versions/master/install-ubuntu.html)
-
+[bazel install instruction](https://docs.bazel.build/versions/master/install-ubuntu.html)\
+[Install carla latest version or (0.9.13) using deb installation](https://carla.readthedocs.io/en/latest/start_quickstart/#a-debian-carla-installation)\
 Install dependencies
 ```python
 sudo apt-get update
 sudo apt-get install libglu1-mesa-dev freeglut3-dev mesa-common-dev
-sudo apt-get install python3.5-dev
-sudo apt-get install python3-pip
-sudo pip3.5 install virtualenv 
+sudo apt-get install python3.7 python3.7-dev python3.7-tk
+pip3 install virtualenv==16.7.8 
 ```
 
 We then call the install script, that will install a virtual environment with all required dependencies. (Only once!)
@@ -36,19 +36,14 @@ source dev_into.sh
 
 ```python
 # Execute at project root directory
-# Carla will be downloaded at the first time
 bazel run //examples:fill_world_with_npc
 ```
 
 ### Examples
-- fill_world_with_npc: spawn npc agents in Carla and Bark simultaneously, which controlled by Carla autopilot, the actions are mirrored into Bark
-- fill_world_with_bark_ego: spawn npc agents and one ego agent simultaneously, ego agent is controlled from Bark
-- simulate_on_Crossing8Course & : simulate on custom opendrive map
-
-## TODO
-- Install Carla using deb installation
+- fill_world_with_npc: spawn npc agents in Carla and Bark simultaneously, which controlled by Carla autopilot, the states/actions are mirrored into Bark
+- fill_world_with_bark_ego: spawn npc agents and one ego agent simultaneously, ego agent is controlled/palnned from Bark
+- simulate_on_Crossing8Course : simulate on custom opendrive map
+- simulate_on_city_highway_straight: simulate on custom opendrive map, with limited range
 
 ## Known issue
-- Simulation crash when driving into some junction (possible bug releated to Bark)
-- Carla autopilot mode does not support custom opendrive map without junction (simulate_on_city_highway_straight)
-- Spawn agents with default spawn location on custom opendrive may lead to error
+- Ego agent cannot drive through some junction

WORKSPACE

@@ -4,52 +4,36 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive", "http_file"
 load("@bazel_tools//tools/build_defs/repo:git.bzl", "git_repository")
 
 git_repository(
-  name = "com_github_bark_simulator_bark",
+  name = "bark_project",
+  branch = "carla_adaptation",
   remote = "https://github.com/bark-simulator/bark",
-  commit = "0ab20e65aa6f328d61f7aab56e407ebdb4c7857e",
-)
-
-git_repository(
-    name = "com_github_nelhage_rules_boost",
-    commit = "8a084196b14a396b6d4ff7c928ffbb6621f0d32c",
-    remote = "https://github.com/patrickhart/rules_boost",
+#   commit = "0ab20e65aa6f328d61f7aab56e407ebdb4c7857e",
 )
+# local_repository(
+#   name = "bark_project",
+#   path = "/home/xliu/fortiss_bark/bark",
+# )
+load("@bark_project//tools:deps.bzl", "bark_dependencies")
+bark_dependencies()
 
 load("@com_github_nelhage_rules_boost//:boost/boost.bzl", "boost_deps")
 boost_deps()
 
+load("@pybind11_bazel//:python_configure.bzl", "python_configure")
+python_configure(name = "local_config_python") 
 
-
-http_archive(
-    name = "com_google_protobuf",
-    sha256 = "cef7f1b5a7c5fba672bec2a319246e8feba471f04dcebfe362d55930ee7c1c30",
-    strip_prefix = "protobuf-3.5.0",
-    urls = ["https://github.com/google/protobuf/archive/v3.5.0.zip"],
-)
-
-http_archive(
-    name = "pybind11",
-    strip_prefix = "pybind11-2.3.0",
-    urls = ["https://github.com/pybind/pybind11/archive/v2.3.0.zip"],
-    build_file = "@com_github_bark_simulator_bark//tools/pybind11:pybind.BUILD",
+git_repository(
+    name = "com_github_nelhage_rules_boost",
+    commit = "8a084196b14a396b6d4ff7c928ffbb6621f0d32c",
+    remote = "https://github.com/patrickhart/rules_boost",
 )
 
-# External dependency: Eigen; has no Bazel build.
-http_archive(
-    name = "com_github_eigen_eigen",
-    build_file = "@com_github_bark_simulator_bark//tools/eigen:eigen.BUILD",
-    sha256 = "dd254beb0bafc695d0f62ae1a222ff85b52dbaa3a16f76e781dce22d0d20a4a6",
-    strip_prefix = "eigen-eigen-5a0156e40feb",
-    urls = [
-        "http://bitbucket.org/eigen/eigen/get/3.3.4.tar.bz2",
-    ],
-)
 
 http_archive(
     name = "com_google_ceres_solver", 
     strip_prefix = "ceres-solver-1.14.0", 
     sha256 = "1296330fcf1e09e6c2f926301916f64d4a4c5c0ff12d460a9bc5d4c48411518f",
-    build_file = "@com_github_bark_simulator_bark//tools/ceres:ceres.BUILD",
+    build_file = "@bark_project//tools/ceres:ceres.BUILD",
     urls = ["https://github.com/ceres-solver/ceres-solver/archive/1.14.0.tar.gz"],
 )
 
@@ -63,17 +47,6 @@ http_archive(
     ],
 )
 
-# External dependency: Google Flags; has Bazel build already.
-http_archive(
-    name = "com_github_gflags_gflags",
-    sha256 = "6e16c8bc91b1310a44f3965e616383dbda48f83e8c1eaa2370a215057b00cabe",
-    strip_prefix = "gflags-77592648e3f3be87d6c7123eb81cbad75f9aef5a",
-    urls = [
-        "https://mirror.bazel.build/github.com/gflags/gflags/archive/77592648e3f3be87d6c7123eb81cbad75f9aef5a.tar.gz",
-        "https://github.com/gflags/gflags/archive/77592648e3f3be87d6c7123eb81cbad75f9aef5a.tar.gz",
-    ],
-)
-
 new_local_repository(
     name = "python_linux",
     path = "./python/venv/",
@@ -87,17 +60,14 @@ cc_library(
 )
     """
 )
-
-http_archive(
-  name = "carla",
-  url= "https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.8.tar.gz",
-#   sha256 = "ddccb35682e8387f4f413f69d1577c1cc012e0e1474e69e20d0daf7f826a673f",
-  build_file_content = """
+new_local_repository(
+    name = "carla",
+    path = "/opt/carla-simulator",
+    build_file_content = """
 filegroup(
     name="carla_python_lib",
     srcs= select({
-        "@bazel_tools//src/conditions:linux_x86_64": glob(["PythonAPI/carla/dist/carla-*-py3.5-linux-x86_64.egg"]),
-        "@bazel_tools//src/conditions:windows": glob(["PythonAPI/carla/dist/carla-*-py3.5-win-amd64.egg"])
+        "@bazel_tools//src/conditions:linux_x86_64": glob(["PythonAPI/carla/dist/carla-*-py3.7-linux-x86_64.egg"])
     }),
     visibility = ["//visibility:public"],
 )

cosimulation_modules/client/carla_client.py

@@ -24,10 +24,13 @@ def __init__(self):
         self.active_actors = dict()
 
     def __del__(self):
-        if self.active_actors:
-            for actor in self.active_actors.values():
-                if self.world.get_actor(actor.id) is not None:
-                    actor.destroy()
+        print('destroying actors')
+        self.client.apply_batch([carla.command.DestroyActor(x) for x in self.active_actors.values()])
+        self.active_actors.clear()
+        # if self.active_actors:
+        #     for actor in self.active_actors.values():
+        #         if self.world.get_actor(actor.id) is not None:
+        #             actor.destroy()
         if self.world is not None:
             self.set_synchronous_mode(False)
 
@@ -62,18 +65,30 @@ def set_synchronous_mode(self, mode, delta_seconds=0.05):
 
     def tick(self):
         return self.world.tick()
-
+    def get_current_time(self):
+        curr_snapshot =  self.world.get_snapshot()
+        return curr_snapshot.timestamp.elapsed_seconds
     def get_world(self):
         return self.world
 
     def get_blueprint_library(self):
         return self.bp_lib
 
     def get_spawn_points(self):
-        return self.world.get_map().get_spawn_points()
+        ava_spawn_pts = self.world.get_map().get_spawn_points()
+        if not ava_spawn_pts:
+            print("Spawn Point List is empty! Generating way points")
+            waypoint_list = self.world.get_map().generate_waypoints(10.0)
+            # ava_spawn_pts = [wp.transform for wp in waypoint_list]
+            for wp in waypoint_list:
+                tmp_tf = wp.transform
+                tmp_tf.location.z += 0.3
+                ava_spawn_pts.append(tmp_tf)
+        return ava_spawn_pts
 
     def spawn_random_vehicle(self, num_retries=10, transform=None):
-        blueprint = random.choice(self.bp_lib.filter('vehicle'))
+        vehicle_bp = self.bp_lib.filter('vehicle')
+        blueprint = random.choice(vehicle_bp)
 
         id = None
         for _ in range(num_retries):
@@ -129,16 +144,15 @@ def set_autopilot(self, actor_id, mode=True):
 
     def get_vehicle_state(self, id):
         if id in self.active_actors:
-            snapshot = self.world.get_snapshot()
             vehicle = self.active_actors[id]
-
             t = vehicle.get_transform()
             v = vehicle.get_velocity()
             # c = vehicle.get_control()
             # a = vehicle.get_acceleration()
             # av = vehicle.get_angular_velocity()
+            snapshot = self.world.get_snapshot()
             return np.array([snapshot.timestamp.elapsed_seconds, t.location.x, -t.location.y,
-                             math.radians(-t.rotation.yaw), math.sqrt(v.x**2 + v.y**2 + v.z**2)])
+                                math.radians(-t.rotation.yaw), math.sqrt(v.x**2 + v.y**2 + v.z**2)])
         else:
             logging.error("Actor {} not found".format(id))
             return None
@@ -148,10 +162,15 @@ def get_vehicles_state(self, carla_2_bark_idx):
         # Should be called in synchronous mode
 
         actor_state_map = dict()
-        for id, vehicle in self.active_actors.items():
-            if vehicle.type_id.split(".")[0] == "vehicle":
-                actor_state_map[carla_2_bark_idx[id]
-                                ] = self.get_vehicle_state(id)
+        for id in self.active_actors.copy():
+            if self.active_actors[id].is_alive:
+                if self.active_actors[id].type_id.split(".")[0] == "vehicle":
+                    actor_state_map[carla_2_bark_idx[id]
+                                    ] = self.get_vehicle_state(id)
+            else:
+                del self.active_actors[id]
+                logging.error("Actor {} is already destroyed!".format(id))
+            
 
         return actor_state_map
 

cosimulation_modules/client/controller.py

@@ -21,15 +21,15 @@ class Controller:
     def __init__(self, client):
         self.client = client
 
-    def control(self, vehicle, last_location, location, velocity, steer_dir):
+    def control(self, vehicle, location, velocity, steer_dir):
         # TODO: use raw control instead of setting the state directly
         transform = carla.Transform(carla.Location(x=float(location[0]), y=-float(location[1])),
                                     carla.Rotation(yaw=math.degrees(-steer_dir)))
         vehicle.set_transform(transform)
         # velocity=10
 
-        v_x, v_y = rotate_2d_vector(0, 1, -steer_dir)
+        v_x, v_y = rotate_2d_vector(0, 1, steer_dir)
         v_x *= velocity
         v_y *= velocity
         velocity_vec = carla.Vector3D(x=v_x, y=v_y, z=0)
-        vehicle.set_velocity(velocity_vec)
+        vehicle.set_target_velocity(velocity_vec)