search

bark-simulator / bark

Open-Source Framework for Development, Simulation and Benchmarking of Behavior Planning Algorithms for Autonomous Driving
https://bark-simulator.github.io/
MIT License
287 stars 68 forks source link

An error occurred in the "example_benchmark" #579

Closed mrzheng8 closed 2 years ago

mrzheng8 commented 2 years ago

When I run the "bazel run //src/run:run_benchmark", The following error occurred： File "/home/su/.cache/bazel/_bazel_su/608beaa3a7c78d0f37683ae6653a8580/execroot/example_benchmark/bazel-out/k8-fastbuild/bin/src/run/run_benchmark.runfiles/example_benchmark/src/run/run_benchmark.py", line 104, in result = benchmark_runner.run() File "/home/su/.cache/bazel/_bazel_su/608beaa3a7c78d0f37683ae6653a8580/execroot/example_benchmark/bazel-out/k8-fastbuild/bin/src/run/run_benchmark.runfiles/bark_project/bark/benchmark/benchmark_runner_mp.py", line 137, in run results_tmp = ray.get([actor.run.remote(viewer, maintain_history, checkpoint_every, process_init_func) for actor in self.actors]) File "/home/su/example_benchmark/tools/python/venv/lib/python3.7/site-packages/ray/worker.py", line 2121, in get raise value.as_instanceof_cause() ray.exceptions.RayTaskError(RuntimeError): ray_worker (pid=834, host=su-Lenovo-Legion-Y9000P2021H) File "pyarrow/serialization.pxi", line 461, in pyarrow.lib.deserialize File "pyarrow/serialization.pxi", line 424, in pyarrow.lib.deserialize_from File "pyarrow/serialization.pxi", line 275, in pyarrow.lib.SerializedPyObject.deserialize ... ... File "/home/su/.cache/bazel/_bazel_su/608beaa3a7c78d0f37683ae6653a8580/execroot/example_benchmark/bazel-out/k8-fastbuild/bin/src/run/run_benchmark.runfiles/bark_project/bark/benchmark/benchmark_runner_mp.py", line 31, in deserialize_benchmark_config return pickle.loads(bc) RuntimeError: Invalid label evaluator state!

I don't think the file in BARK has been modified, so it doesn't match the example_benchmark

CesarLiu commented 2 years ago

Hi, as you have seen, the repo example_benchmark is out of date and doesn't work with the current bark master branch. If you still want to run example_benchmark, you could refer to an older commit, eg. in tools/deps.bzl, change the bark version to _maybe( git_repository, name = "bark_project",

branch = "master",

    commit = "88b04db2ce5dc99ab80b7aa46f8664e762cbe7c9",
    remote = "https://github.com/bark-simulator/bark.git",
)

best,

CesarLiu commented 2 years ago

Hi @mrzheng8 ,

if you haven't yet solved the issue, we found the bug in the bark master branch here: https://github.com/bark-simulator/bark/blob/251992257455f455361a2a7af38f6559cbd5d23a/bark/python_wrapper/world/ltl.cpp#L106 the size of input is not correct, you should change it from 11 to 12, then it won't throw the runtime_error. nice to mention: if you haven't adjusted your example_benchmark repo to conform to the new SafeDistanceLabelFunction, please refer to this commit: https://github.com/CesarLiu/example_benchmark/commit/6754a2c04b0a679145d2ba9b8a0c28b4a1c95643 best,