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carla-simulator / scenario_runner

Traffic scenario definition and execution engine
https://carla-scenariorunner.readthedocs.io/en/latest/
MIT License
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Better support for OpenScenario-files exported from RoadRunner #1067

Open haabe opened 6 months ago

haabe commented 6 months ago

Describe our question or idea MathWork's RoadRunner is a tool to create scenes (maps) and scenarios, which can be exported to Carla as Datasmith/OpenDrive maps and OpenScenario scenarios.

However, there are some issues with this.

  1. The recommended export settings(*) from RoadRunner creates a TeleportAction for the spawn point. My experience is that this spawn point conflicts with the road/terrain. Increasing the value added to _spawn_point.location.z seems to fix it.
  2. RoadRunner uses the state "runningState" instead of "startTransition". Adding "runningState" to the conditional triggers in the OpenScenario parser would fix this.

Expected behavior Scenarios exported from MathWork's RoadRunner executing as expected without any issues.

Desktop (please complete the following information):

(*) The recommended export settings include checking "Move non-instantaneous InitActions to Stories" under Advanced Settings in the OpenSCENARIO pane of the Export modal.