Error when using get_waypoint() with carla.LaneType.Any in Windows

[LikhitaNukala]

I have executed the following command for OpenSCENARIO. python scenario_runner.py --openscenario L:\carla_latest\scenario_runner-0.9.9\srunner\examples\CyclistCrossing.xosc

I'm getting the following.

WARNING:OpenScenarioConfiguration:Wrong OpenDRIVE map in use. Forcing reload of CARLA world Preparing scenario: CARLA:CyclistCrossing ScenarioManager: Running scenario OpenScenario Traceback (most recent call last): File "scenario_runner.py", line 382, in _load_and_run_scenario self.manager.run_scenario() File "L:\carla_latest\scenario_runner-0.9.9\srunner\scenariomanager\scenario_manager.py", line 216, in run_scenario self._tick_scenario(timestamp) File "L:\carla_latest\scenario_runner-0.9.9\srunner\scenariomanager\scenario_manager.py", line 260, in _tick_scenario self.scenario_tree.tick_once() File "C:\Users\lnukala\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.7_qbz5n2kfra8p0\LocalCache\local-packages\Python37\site-packages\py_trees\behaviour.py", line 158, in tick_once for unused in self.tick(): File "C:\Users\lnukala\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.7_qbz5n2kfra8p0\LocalCache\local-packages\Python37\site-packages\py_trees\composites.py", line 578, in tick for node in child.tick(): File "C:\Users\lnukala\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.7_qbz5n2kfra8p0\LocalCache\local-packages\Python37\site-packages\py_trees\composites.py", line 578, in tick for node in child.tick(): File "C:\Users\lnukala\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.7_qbz5n2kfra8p0\LocalCache\local-packages\Python37\site-packages\py_trees\composites.py", line 578, in tick for node in child.tick(): File "C:\Users\lnukala\AppData\Local\Packages\PythonSoftwareFoundation.Python.3.7_qbz5n2kfra8p0\LocalCache\local-packages\Python37\site-packages\py_trees\behaviour.py", line 249, in tick new_status = self.update() File "L:\carla_latest\scenario_runner-0.9.9\srunner\scenariomanager\scenarioatomics\atomic_criteria.py", line 648, in update current_wp = self._map.get_waypoint(current_loc, lane_type=carla.LaneType.Any) OverflowError: can't convert negative value to unsigned int can't convert negative value to unsigned int Destroying ego vehicle 258 No more scenarios .... Exiting

Desktop

• OS: Windows 10
• CARLA Version CARLA 0.9.9
• Python version 3.7.6
• Version 0.9.9

[glopezdiest]

Hey. That WARNING is normal. Each scenario needs a specific town so if you aren't in the correct one, the world is reloaded.

OverflowError: can't convert negative value to unsigned int

This however, isn't. Can you explain the step you did to reproduce it? I just tried it and couldn't see anything like that.

PD: I'm changing the title to match the actual issue

[LikhitaNukala]

I have followed the same steps of importing/ simulating OpenSCENARIO files using the command. python scenario_runner.py --openscenario I'm getting the error.

[glopezdiest]

Okay, I'll take a look, see if I can reproduce the error.

[glopezdiest]

@LikhitaNukala I'm sorry to say this but I can't seem to reproduce this error. This makes me believe it might be a Windows related issue, but I can't ensure that's the case, as I currently don't have the possibility to test it in Windows. I'll keep digging, see if I find something else.

[DevOpsMVP]

I got this error on windows10,not for ubuntu.

[glopezdiest]

@DevotionGit Could you please print the exact current_loc and paste it here?

[charlie-wartnaby]

Hello, I've just run into this under Windows too. It seems to be because:

carla\PythonAPI\carla\dependencies\include\carla\road\Lane.h(51):      Any           = 0xFFFFFFFE

... which should be fine, but in Windows Python (Python 3.8.3 (tags/v3.8.3:6f8c832, May 13 2020, 22:37:02) [MSC v.1924 64 bit (AMD64)] on win32), that gets interpreted like a signed int as -2. Or at least does if I use an int() conversion in a debug print statement in the Python.

So then the Python is passing -2 to the function get_waypoint(), in C++ GetWaypoint(), expecting a uint32_t when it uses LaneType.Any here in npc_vehicle_control.py:

            waypoint = CarlaDataProvider.get_map().get_waypoint(
                transform.location, project_to_road=True, lane_type=carla.LaneType.Any)

Changing it to carla.LaneType.Driving as a workaround avoids the exception (in my case at least). But obviously that's not a proper solution.

[glopezdiest]

Hey @charlie-wartnaby. Thanks for the information. We'll take a look, see what we can do to fix it.

[charlie-wartnaby]

Thank you @glopezdiest , and note @LikhitaNukala and @DevotionGit . For now a simple workaround is to change the definition of LaneType::Any here in LibCarla/source/carla/road/Lane.h (and then rebuild CARLA and the PythonAPI):

      Any           = 0x7FFFFFFE // CW: IDIADA workaround to avoid overflow exception when 0xFFFFFFFE interpreted as -2 in Windows Python and passed to uint32_t function in API

For good measure I did the same thing for LightState::All in LibCarla/source/rpc/VehicleLightState.h, I didn't spot any others like this:

      All          = 0x7FFFFFFF // CW: IDIADA workaround to avoid overflow exception when 0xFFFFF... interpreted as -ve in Windows Python

I have never written my own Python library in C/C++ and am new to CARLA, so to be honest I have no idea how the type mapping is supposed to work there from C++ to Python. But this seems to do the trick.

[glopezdiest]

Adding @bernatx and transferring it to the CARLA main repository, as this doesn't seem to be ScenarioRunner related anymore

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[fabianoboril]

This still seems to be relevant. According to discord, people still see this issue in CARLA 0.9.10

[bernatx]

I'm working on this issue

[zhengsongyue]

Hello, have you fixed this issue? seems like i met the same issue on Ubuntu 18.04.

[glopezdiest]

Hey @zhengsongyue, you seem to not be finding the carla/PythonAPI/carla/agents folder. Can you check that you have the carla/PythonAPI/carla folder added to your PYTHONPATH?

Also, why didn't you create a new issue instead of posting it here? Your error is unrelated to the one above.

[TeeManiac]

I have been working with xml scenario files and everything was working fine. When I tried to run OpenSCENARIO files, only CatalogExample, ChangingWeather and OscControllerExample was working and I am getting the following error when trying to run CyclistCrossing, PedestrianCrossingFront, FollowLeadingVehicle and LaneChangeSimple files.

"current_wp = self._map.get_waypoint(current_loc, lane_type=carla.LaneType.Any) OverflowError: can't convert negative value to unsigned int
can't convert negative value to unsigned int
Destroying ego vehicle 5752
ERROR: failed to destroy actor 5752 : unable to destroy actor: not found
No more scenarios .... Exiting

Desktop

OS: [Windows 10] CARLA Version [CARLA 0.9.10] Python version [3.9.0] Scenario_runner Version [0.9.10]

I've seen that this issue is for Windows. Please help me to resolve this issue.

[glopezdiest]

hey @TeeManiac. That's not an ScenarioRunner error but a CARLA one. We recently fixed it with PR's https://github.com/carla-simulator/carla/commit/aedd70911905d1cb80844c55cfc324469de07c90 and https://github.com/carla-simulator/carla/commit/530f56e78b999550670c7e5002b9b740218b8a58.

If you are using CARLA from source I'd recommend either cherrypicking those two commit, or upgrading to current dev branch

[TeeManiac]

@glopezdiest Thank you..it worked now

[aakashsehgal]

@glopezdiest i am facing the same issue on Win10 and Carla 0.9.10 (Binary)...any idea how could this be resolved ?

[glopezdiest]

Unfortunately, you can't change any code of the package so you'd have to either: 1) Upgrade to 0.9.11 2) Get CARLA 0.9.10 from source, apply the PR's and make a new package I'd like to give you a package with those changes but Win10 and Carla 0.9.10 (Binary) is a pretty bad configuration for me to do it on. I'll see if I can do it but I can't promise anything

[aakashsehgal]

Upgrading to 0.9.11 solved the problem. Thanks.