ImportError: cannot import name 'is_within_distance_ahead' from 'misc' when running the `carla_ad_demo`

[bessszilard]

First of all, thank you for this useful open-source project. I am trying to run Carla ROS bridge demo launch file. I downloaded the catkin package as it described. These commands worked well:

# Option 1: start the ros bridge
roslaunch carla_ros_bridge carla_ros_bridge.launch

# Option 2: start the ros bridge together with an example ego vehicle
roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch

I exported the SCENARIO_RUNNER_PATH and I tried to run the CARLA AD Demo with the command below, I receive the following errors [1]

roslaunch carla_ad_demo carla_ad_demo.launch

I check the misc.py, and it has a is_within_distance_ahead function, so I guess that problems with paths.

I tried to build the package with catkin_make and catkin build as well, but they behaved similarly. I tried to run this with the https://github.com/carla-simulator/ros-bridge/commit/537cc621404b10ad47b283918407306438a29f9f commit as well, but it behaved the same. I attached the full log as well [2]

What am I doing wrong?

Regards, Szilard

Config:	Config
Operating system:	Pop os 20.04 LTS
ROS version:	noetic
Carla simulation version:	CARLA_0.9.10.1
ROS bridge version:	CARLA ROS Bridge 0.9.10.1 0700f2d

[1]

Traceback (most recent call last):
  File "/home/szilard/catkin_ws/devel/lib/carla_ad_agent/carla_ad_agent.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/szilard/catkin_ws/src/ros-bridge/carla_ad_agent/src/carla_ad_agent/carla_ad_agent.py", line 16, in <module>
    from basic_agent import BasicAgent  # pylint: disable=relative-import
  File "/home/szilard/catkin_ws/devel/lib/carla_ad_agent/basic_agent.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/szilard/catkin_ws/src/ros-bridge/carla_ad_agent/src/carla_ad_agent/basic_agent.py", line 19, in <module>
    from agent import Agent, AgentState  # pylint: disable=relative-import
  File "/home/szilard/catkin_ws/devel/lib/carla_ad_agent/agent.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/szilard/catkin_ws/src/ros-bridge/carla_ad_agent/src/carla_ad_agent/agent.py", line 16, in <module>
    from misc import is_within_distance_ahead, compute_magnitude_angle  # pylint: disable=relative-import
ImportError: cannot import name 'is_within_distance_ahead' from 'misc' (/home/szilard/catkin_ws/devel/lib/carla_ad_agent/misc.py)
[carla_ad_agent_ego_vehicle-6] process has died [pid 67766, exit code 1, cmd /home/szilard/catkin_ws/devel/lib/carla_ad_agent/carla_ad_agent.py __name:=carla_ad_agent_ego_vehicle __log:=/home/szilard/.ros/log/eb0f636c-3ecd-11eb-a7e1-a755c4dafc1f/carla_ad_agent_ego_vehicle-6.log].
log file: /home/szilard/.ros/log/eb0f636c-3ecd-11eb-a7e1-a755c4dafc1f/carla_ad_agent_ego_vehicle-6*.log
ALSA lib pcm.c:8526:(snd_pcm_recover) underrun occurred
Traceback (most recent call last):
  File "/home/szilard/catkin_ws/devel/lib/carla_waypoint_publisher/carla_waypoint_publisher.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/szilard/catkin_ws/src/ros-bridge/carla_waypoint_publisher/src/carla_waypoint_publisher/carla_waypoint_publisher.py", line 35, in <module>
    from agents.navigation.global_route_planner import GlobalRoutePlanner
ModuleNotFoundError: No module named 'agents'
[INFO] [1608036224.831839, 0.000000]: Using ros parameter for spawnpoint: 127.4,195.4,0,0,0,180
[INFO] [1608036224.833276, 0.000000]: listening to server localhost:2000
[INFO] [1608036224.833823, 0.000000]: using vehicle filter: vehicle.tesla.model3
[INFO] [1608036224.834442, 0.000000]: Waiting for CARLA world (topic: /carla/world_info)...
[INFO] [1608036224.855211, 0.000000]: Trying to connect to localhost:2000
[carla_waypoint_publisher-7] process has died [pid 67772, exit code 1, cmd /home/szilard/catkin_ws/devel/lib/carla_waypoint_publisher/carla_waypoint_publisher.py __name:=carla_waypoint_publisher __log:=/home/szilard/.ros/log/eb0f636c-3ecd-11eb-a7e1-a755c4dafc1f/carla_waypoint_publisher-7.log].
log file: /home/szilard/.ros/log/eb0f636c-3ecd-11eb-a7e1-a755c4dafc1f/carla_waypoint_publisher-7*.log

[2] roslaunch-pop-os-106145.log

[joel-mb]

Hi @bessszilard ! For what I see in your log, the agents module is not being found. Try adding the following line to your bashrc:

export PYTHONPATH=$PYTHONPATH:"<YOUR-CARLA-ROOT-PATH>/PythonAPI/carla"

[KevinLADLee]

Hi @bessszilard, I had the same problem on Ubuntu 20.04 with ROS noetic. I tried to remove the install command in carla_ad_agent/CMakeLists.txt, and it works fine. Maybe this is a problem caused by catkin_install_python.

[joel-mb]

Closing due to no further replies. Please feel free to reopen the issue if the problem persists.

[shhy01]

Hi I'm stuck at the same situation. Do you know how to solve? Especially, My Error is ..

File "/mnt/sda/carla-ros-bridge/catkin_ws/src/ros-bridge/carla_waypoint_publisher/src/carla_waypoint_publisher/carla_waypoint_publisher.py", line 25, in from agents.navigation.global_route_planner import GlobalRoutePlanner ModuleNotFoundError: No module named 'agents.navigation'

Please let me know