OpenScenario 2.0 Path Modifiers

[jasmeetgaba24]

Trying to Use Path Modifiers in OSC File to run Scenario in Carla Simulator

Hi, I am trying to utilize Path Modifiers such as path_min_driving_lane or path_over_junction in my OSC Files, However Those modifiers are not making any change, It look like for every Carla Town - Location is Predefined, and No Matter which Lane, Junction, or Sign I used. vehicle is getting spawned at same location for every Town.

Is that implementation for Path Modifiers are not in place or Am I making any mistake. Below is an OSC file I am trying to use.

CHANGE_LANE_SCENARIO: It does not matter how many minimum lanes I keep, or Whatever Sign I used, Ego Vehicle gets spawned at same point. I believe SET_MAP is the only Path modifer which is working and loading the mentioned Town in carla. """

import basic.osc scenario top: path: Path # A path in the map path.set_map("Town02") # specify map to use in this test path.path_min_driving_lanes(2) # Path should have at least two lanes path.path_has_sign("stop_sign")

ego_vehicle: Model3                # ego car
npc: Rubicon               # The other car

event start
event end
event left
event right
do serial:
    get_ahead: parallel(duration: 15s):
        ego_vehicle.drive(path) with:
            speed(20kph)
            lane(1, at: start) # left to right: [1..n]
        npc.drive(path) with:
            lane(right_of: ego_vehicle, at: start)
            position(15m, behind: ego_vehicle, at: start)
            position(20m, ahead_of: ego_vehicle, at: end)

    change_lane: parallel(duration: 5s):
        ego_vehicle.drive(path)
        npc.drive(path) with:
            # change_lane(lane_changes:[1..2], side:left)
            change_lane(lane_changes:[1..2], side: left)

    slow: parallel(duration: 20s):
        ego_vehicle.drive(path)
        npc.drive(path) with:
            speed(20kph)

"""

[jasmeetgaba24]

I've tried debugging and it can bee seen, Path has the values for _min_driving_lanes and _signs_type, However its not reflecting while running the senario.

[jasmeetgaba24]

@charles-lei, @glopezdiest Can you provide some insights on same ?

[kshitiz-deloitte]

I had the same doubt how it was taking the path modifiers as @jasmeetgaba24 mentioned.