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OATML / oatomobile

A research framework for autonomous driving
https://sites.google.com/view/av-detect-recover-adapt
Apache License 2.0
195 stars 37 forks source link

CARLA 0.9.10 compatibility? #18

Open tomov opened 3 years ago

tomov commented 3 years ago

Hi, great repo! Wondering of it's compatible with the latest Carla? Getting some segfaults:

pygame 1.9.6
Hello from the pygame community. https://www.pygame.org/contribute.html
4.24.3-0+++UE4+Release-4.24 518 0
Disabling core dumps.
Signal 11 caught.
Malloc Size=65538 LargeMemoryPoolOffset=65554
CommonUnixCrashHandler: Signal=11
Malloc Size=65535 LargeMemoryPoolOffset=131119
Malloc Size=118144 LargeMemoryPoolOffset=249280
Engine crash handling finished; re-raising signal 11 for the default handler. Good bye.
Signal 11 caught.
Malloc Size=65538 LargeMemoryPoolOffset=65554
CommonUnixCrashHandler: Signal=11
Malloc Size=65535 LargeMemoryPoolOffset=131119
Malloc Size=105648 LargeMemoryPoolOffset=236784
Engine crash handling finished; re-raising signal 11 for the default handler. Good bye.
Segmentation fault (core dumped)

4.24.3-0+++UE4+Release-4.24 518 0
Disabling core dumps.
Signal 11 caught.
Malloc Size=65538 LargeMemoryPoolOffset=65554
CommonUnixCrashHandler: Signal=11
Malloc Size=65535 LargeMemoryPoolOffset=131119
Malloc Size=118144 LargeMemoryPoolOffset=249280
Engine crash handling finished; re-raising signal 11 for the default handler. Good bye.
Signal 11 caught.
Malloc Size=65538 LargeMemoryPoolOffset=65554
CommonUnixCrashHandler: Signal=11
Malloc Size=65535 LargeMemoryPoolOffset=131119
Malloc Size=105648 LargeMemoryPoolOffset=236784
Engine crash handling finished; re-raising signal 11 for the default handler. Good bye.
Segmentation fault (core dumped)
4.24.3-0+++UE4+Release-4.24 518 0
Disabling core dumps.
Signal 11 caught.
Malloc Size=65538 LargeMemoryPoolOffset=65554
CommonUnixCrashHandler: Signal=11
Malloc Size=65535 LargeMemoryPoolOffset=131119
Malloc Size=118144 LargeMemoryPoolOffset=249280
Engine crash handling finished; re-raising signal 11 for the default handler. Good bye.
Signal 11 caught.
Malloc Size=65538 LargeMemoryPoolOffset=65554
CommonUnixCrashHandler: Signal=11
Malloc Size=65535 LargeMemoryPoolOffset=131119
Malloc Size=105648 LargeMemoryPoolOffset=236784
Engine crash handling finished; re-raising signal 11 for the default handler. Good bye.
Segmentation fault (core dumped)

Thanks!

himty commented 3 years ago

Hello, were you able to find a solution for this?

tomov commented 3 years ago

Thanks for checking in, we actually ended up implementing a similar framework on our end

Momchil Tomov Sent from my iPhone

On Aug 13, 2021, at 3:37 PM, Jenny Wang @.***> wrote:

 Hello, were you able to find a solution for this?

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Morphlng commented 1 year ago

Hello, were you able to find a solution for this?

I've done some changes to make this Environment compatible with Carla 0.9.13 (hopefully 0.9.10+), maybe you can check out my fork repo

chungcode0218 commented 10 months ago

@Morphlng Hello, sir. I am currently encountering a dependency conflict when attempting to use OAtomobile alongside other packages, particularly TensorFlow. Here are the version constraints and conflicts I've come across:

OAtomobile requires:

absl-py==0.9.0 numpy==1.19.5 pandas==0.25.3 scipy==1.4.1 ...other dependencies... TensorFlow 2.13.1 requires:

absl-py>=1.0.0 (conflicts with OAtomobile's requirement for absl-py==0.9.0) numpy<=1.24.3,>=1.22 (conflicts with OAtomobile's requirement for numpy==1.19.5) Open3D 0.18.0 requires:

pandas>=1.0 (conflicts with OAtomobile's requirement for pandas==0.25.3) Scikit-learn 1.3.2 requires:

scipy>=1.5.0 (conflicts with OAtomobile's requirement for scipy==1.4.1) I understand that resolving dependency issues can be complex, especially with libraries that have specific version requirements. I am seeking advice on how to manage or resolve these conflicts. Is there a recommended set of compatible versions of these libraries that can work with OAtomobile? Or is there an update planned for OAtomobile that might alleviate these conflicts?

Any guidance or suggestions you can provide would be greatly appreciated as I aim to utilize OAtomobile for my project.

Thank you for your time and assistance.

Best regards

Morphlng commented 10 months ago

OAtomobile requires:

absl-py==0.9.0 numpy==1.19.5 pandas==0.25.3 scipy==1.4.1 ...other dependencies...

@chungcode0218 Have you tried to loosen up these requirements in oatomobile. I.e., delete the specific version requires, install TF2 first and then oatomobile? I haven't been using this project ever since we've started to build our own env. But as far as I'm concerned, the environment is not using any particular feature that requires you to maintain these conflicting libraries as their original specified version.

chungcode0218 commented 10 months ago

@Morphlng

Thank you for your prompt response and helpful suggestions. I will try loosening the version constraints and installing TensorFlow first as you recommended. Appreciate your guidance on this!

Best regards

942411526 commented 8 months ago

OAtomobile requires: absl-py==0.9.0 numpy==1.19.5 pandas==0.25.3 scipy==1.4.1 ...other dependencies...

@chungcode0218 Have you tried to loosen up these requirements in Oatomobile. I.e., delete the specific version requires, install TF2 first and then oatomobile? I haven't been using this project ever since we've started to build our own env. But as far as I'm concerned, the environment is not using any particular feature that requires you to maintain these conflicting libraries as their original specified version.

Hello, were you able to find a solution for this?

I've done some changes to make this Environment compatible with Carla 0.9.13 (hopefully 0.9.10+), maybe you can check out my fork repo

Thanks for your work,but there some problems in 0.9.10 Hello from the pygame community. https://www.pygame.org/contribute.html 4.24.3-0+++UE4+Release-4.24 518 0 Disabling core dumps. Signal 11 caught. Malloc Size=65538 LargeMemoryPoolOffset=65554 CommonUnixCrashHandler: Signal=11 Malloc Size=65535 LargeMemoryPoolOffset=131119 Malloc Size=118144 LargeMemoryPoolOffset=249280 Engine crash handling finished; re-raising signal 11 for the default handler. Good bye. Segmentation fault (core dumped) 4.24.3-0+++UE4+Release-4.24 518 0 Disabling core dumps. Signal 11 caught. Malloc Size=65538 LargeMemoryPoolOffset=65554 CommonUnixCrashHandler: Signal=11 Malloc Size=65535 LargeMemoryPoolOffset=131119 Malloc Size=118144 LargeMemoryPoolOffset=249280 Engine crash handling finished; re-raising signal 11 for the default handler. Good bye. Segmentation fault (core dumped) 4.24.3-0+++UE4+Release-4.24 518 0 Disabling core dumps. Signal 11 caught. Malloc Size=65538 LargeMemoryPoolOffset=65554 CommonUnixCrashHandler: Signal=11 Malloc Size=65535 LargeMemoryPoolOffset=131119 Malloc Size=118144 LargeMemoryPoolOffset=249280 Engine crash handling finished; re-raising signal 11 for the default handler. Good bye. Segmentation fault (core dumped) 4.24.3-0+++UE4+Release-4.24 518 0 Disabling core dumps. Signal 11 caught. Malloc Size=65538 LargeMemoryPoolOffset=65554 CommonUnixCrashHandler: Signal=11 Malloc Size=65535 LargeMemoryPoolOffset=131119 Malloc Size=118144 LargeMemoryPoolOffset=249280 Engine crash handling finished; re-raising signal 11 for the default handler. Good bye. Segmentation fault (core dumped) 4.24.3-0+++UE4+Release-4.24 518 0 Disabling core dumps. Signal 11 caught. Malloc Size=65538 LargeMemoryPoolOffset=65554 CommonUnixCrashHandler: Signal=11 Malloc Size=65535 LargeMemoryPoolOffset=131119 Malloc Size=118144 LargeMemoryPoolOffset=249280 Engine crash handling finished; re-raising signal 11 for the default handler. Good bye. Segmentation fault (core dumped)

942411526 commented 8 months ago

Hello, were you able to find a solution for this?

I've done some changes to make this Environment compatible with Carla 0.9.13 (hopefully 0.9.10+), maybe you can check out my fork repo

thanks for your work ,but there are some problem when i run the code
/home/yx/anaconda3/envs/carla_ros/lib/python3.7/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) Traceback (most recent call last): File "test.py", line 7, in observation = environment.reset() File "/home/yx/oatomobile-alpha/oatomobile-alpha/oatomobile/core/rl.py", line 67, in reset return self.simulator.reset(*args, *kwargs) File "/home/yx/oatomobile-alpha/oatomobile-alpha/oatomobile/simulators/carla/simulator.py", line 1748, in reset obs = self.step(action=None) File "/home/yx/oatomobile-alpha/oatomobile-alpha/oatomobile/simulators/carla/simulator.py", line 1780, in step timeout=defaults.QUEUE_TIMEOUT, File "/home/yx/oatomobile-alpha/oatomobile-alpha/oatomobile/core/simulator.py", line 120, in get_observations return Observations(self.sensors, args, kwargs) File "/home/yx/oatomobile-alpha/oatomobile-alpha/oatomobile/core/simulator.py", line 82, in init for uuid, sensor in sensors.items()] File "/home/yx/oatomobile-alpha/oatomobile-alpha/oatomobile/core/simulator.py", line 82, in for uuid, sensor in sensors.items()] File "/home/yx/oatomobile-alpha/oatomobile-alpha/oatomobile/simulators/carla/simulator.py", line 1290, in get_observation destination=end_waypoint.transform.location, File "/home/yx/oatomobile-alpha/oatomobile-alpha/oatomobile/util/carla.py", line 735, in global_plan grp = GlobalRoutePlanner(wmap=world.get_map(), sampling_resolution=1) TypeError: init() got an unexpected keyword argument 'wmap'**

Morphlng commented 8 months ago

File "/home/yx/oatomobile-alpha/oatomobile-alpha/oatomobile/util/carla.py", line 735, in global_plan grp = GlobalRoutePlanner(wmap=world.get_map(), sampling_resolution=1) TypeError: init() got an unexpected keyword argument 'wmap'

@942411526 Hi!

This error happened because since Carla 0.9.12, GlobalRoutePlanner's API has changed.

Originally, you would have to first instantiate a GlobalRoutePlannerDAO, that takes argument wmap and sampling_resolution. Then pass it to GlobalRoutePlanner. From 0.9.12, there is no GlobalRoutePlannerDAO anymore, and you should directly instantiate GlobalRoutePlanner(wmap, sampling_resolution).

Because my fork was targetting version 0.9.13, this kind of unmatched api can happened.