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DerrickXuNu / OpenCOOD

[ICRA 2022] An opensource framework for cooperative detection. Official implementation for OPV2V.
https://mobility-lab.seas.ucla.edu/opv2v/
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'Spawn collision' error during replay #91

Closed xavhl closed 1 year ago

xavhl commented 1 year ago

ERROR: Spawn failed because of collision at spawn position

Is this supposed to happen when we are replaying the original OPV2V dataset? I assumed that there should be no collision, as the vehicles should have been appropriately placed when creating the dataset.

DerrickXuNu commented 1 year ago

Is the error still happening? What is your CARLA version?

xavhl commented 1 year ago

I figured out that it was due to the iterative trial of vehicle spawning line 257 in scene_manager.py, in the end all vehicles were successfully created given appropriate z-coordinate 

while not vehicle:
    cur_pose.location.z += 0.01
    vehicle = world.try_spawn_actor(cav_bp, cur_pose)

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