Using OpenScenario 1.0 with Apollo- Carla co-simulation

[vigneshm123]

Is it possible to use OpenScenario 1.0 (.xosc) for traffic vehicle maneuvering with Carla- Apollo co-simulation? if not, Is there any alternative way for maneuvering traffic vehicles with Carla- Apollo co-simulation?

Apollo : 7.0 Carla : 0.9.13 Ubuntu: 20.04

[daohu527]

If this map does not exist in carla, then you need to import opendrive to carla. And you need to convert opendrive format map to apollo map too.

If you already have map in carla then you just need to convert opendrive to apollo map

[vigneshm123]

@daohu527 Thanks for suggestion, but is it possible to use OpenScenario (.xosc) files for creating vehicle maneuvers? My goal is to use OpenScenario 1.0 in Apollo Dreamview .

[daohu527]

At present, direct import should not be supported, but dreamview supports custom scenes.

These 2 may need to convert the format, then we can dirctly import OpenScenario

[vigneshm123]

@daohu527 , Do you mean that I should use .py instead of .xosc? can you please elaborate about the format ?

[daohu527]

I'm not very familiar with OpenScenario 1.0. So I suggest you can target specific problems

[longzuyan]

@daohu527 I'm working on converting OpenScenario to apollo scenario format, Could you please elaborate on the Apollo scenario format or where can I find related documents?

[daohu527]

Apollo's scenario format is here https://github.com/ApolloAuto/apollo/blob/master/modules/common_msgs/simulation_msgs/scenario.proto

However, third-party import is not supported yet, we need to confirm. I will feedback as soon as possible

[meua]

You can pay attention to the https://github.com/guardstrikelab/carla_apollo_bridge project, which is trying to support the latest co-simulation of apollo and carla, and plans to support OpenScenario 2.0.