Stuck on "velocity_limit service is not ready" when scenario contains a pedestrian

[WilliamFlinchbaugh]

I was trying to create a simple scenario with an ego vehicle and a pedestrian crossing the street. However, it seems like whenever there's a pedestrian in the scenario, it stalls on [simulation.concealer_user]: /api/autoware/set/velocity_limit service is not ready. after launching.

All I did was copy sample_awsim.yaml scenario which works perfectly and add a pedestrian.The issue seems to not be with defining the pedestrian scenario object, but with the teleport and routing action within the storyboard as well as the action in the story. It seems to work fine with just the pedestrian defined under ScenarioObject, and I don't get any parsing errors or anything.

I attached the scenario yaml file I'm using. If anyone has an example of pedestrian movement in a scenario, that would be incredibly helpful.

pedestrian_scenario.txt

The only parts I added to the sample_awsim.yaml scenario were the following:

• Under ScenarioObject:

• name: Pedestrian0 Pedestrian: name: Pedestrian mass: 60 model: '' pedestrianCategory: pedestrian BoundingBox: Center: x: 0 y: 0 z: 1 Dimensions: length: 0.8 width: 0.8 height: 2 Properties: Property: [] ObjectController: Controller: name: '' Properties: Property: []

• Under Storyboard/Init/Actions/Private:

• entityRef: Pedestrian0 PrivateAction:

  • TeleportAction: Position: WorldPosition: x: 81615.148 y: 50042.0498 z: 1 h: -1.3947 p: -0.0 r: 0
  • RoutingAction: AcquirePositionAction: Position: WorldPosition: x: 81622.8167 y: 50003.3951 z: 0.15 h: -1.4096 p: -0.0 r: 0

• Under Story/Act/ManeuverGroup/Maneuver/Event:

• name: '' priority: parallel StartTrigger: ConditionGroup:

  • Condition:
    • name: '' delay: 0 conditionEdge: none ByValueCondition: SimulationTimeCondition: value: 180 rule: greaterThan
  • Condition:
    • name: '' delay: 0 conditionEdge: none ByEntityCondition: TriggeringEntities: triggeringEntitiesRule: any EntityRef:
      • entityRef: ego EntityCondition: CollisionCondition: EntityRef: entityRef: Pedestrian0 Action:
        • name: '' UserDefinedAction: CustomCommandAction: type: exitFailure

[WilliamFlinchbaugh]

Pretty sure this is actually just an issue with the scenario since it doesn't run with scenario test runner. My bad for not trying that first.