search

carla-simulator / scenario_runner

Traffic scenario definition and execution engine
https://carla-scenariorunner.readthedocs.io/en/latest/
MIT License
495 stars 353 forks source link

Carla crash when running a scenario includes pedestrian #1080

Open RashawnXue opened 1 month ago

RashawnXue commented 1 month ago

Describe the bug

I' m using scenario_runner to run different scenarios, and most of them can run smoothly. But when I try to run a scenario including Pedestrian, Carla just generates the scenario, runs it, and then crashes.

To Reproduce Steps to reproduce the behavior:

  1. Running scenario with command
python3 scenario_runner.py --openscenario pedestrian_scenario.xosc
  1. Scenario is generated and running normally
  2. Carla carshes and report:
Signal 11 caught.
Malloc Size=65538 LargeMemoryPoolOffset=65554 
CommonUnixCrashHandler: Signal=11
Malloc Size=131160 LargeMemoryPoolOffset=196744 
Malloc Size=131160 LargeMemoryPoolOffset=327928 
Engine crash handling finished; re-raising signal 11 for the default handler. Good bye.
Segmentation fault (core dumped)

Expected behavior Carla should run the scenario normally like others.

Desktop (please complete the following information):

Additional context The scenario file I use is below:

<?xml version="1.0" encoding="utf-8"?>
<OpenScenario>
  <FileHeader revMajor="1" revMinor="0" date="2024-04-19T21:25:05" description="CARLA:test" author=""/>
  <CatalogLocations/>
  <RoadNetwork>
    <LogicFile filepath="Town05"/>
  </RoadNetwork>
  <Entities>
    <ScenarioObject name="hero">
      <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
        <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
        <BoundingBox>
          <Center x="1.5" y="0.0" z="0.9"/>
          <Dimensions width="2.1" length="4.5" height="1.8"/>
        </BoundingBox>
        <Axles>
          <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
          <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
        </Axles>
        <Properties>
          <Property name="type" value="ego_vehicle"/>
          <Property name="color" value="0,0,255"/>
        </Properties>
      </Vehicle>
    </ScenarioObject>
    <ScenarioObject name="adversary">
      <Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
        <Performance maxSpeed="134.338468" maxAcceleration="320.146407" maxDeceleration="15.416075"/>
        <BoundingBox>
          <Center x="6.799624" y="-2.825733" z="0.9"/>
          <Dimensions width="3.329473" length="7.934908" height="2.233139"/>
        </BoundingBox>
        <Axles>
          <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
          <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
        </Axles>
        <Properties>
          <Property name="type" value="simulation"/>
          <Property name="color" value="255,0,0"/>
        </Properties>
      </Vehicle>
    </ScenarioObject>
    <ScenarioObject name="Box">
      <MiscObject name="static.prop.streetbarrier" miscObjectCategory="obstacle" mass="0.0">
        <BoundingBox>
          <Center x="-9.670538" y="-4.573179" z="0.75"/>
          <Dimensions width="1.442451" length="1.224422" height="0.676124"/>
        </BoundingBox>
        <Properties>
          <Property name="scaleMode" value="ModelToBB"/>
          <Property name="model_id" value="15"/>
        </Properties>
      </MiscObject>
    </ScenarioObject>
    <ScenarioObject name="pedestrian1">
      <Pedestrian name="walker.pedestrian.0003" pedestrianCategory="animal" mass="77.678247">
        <BoundingBox>
          <Center x="0.597199" y="3.861271" z="0.9"/>
          <Dimensions width="2.688169" length="1.101846" height="1.190305"/>
        </BoundingBox>
        <Properties>
          <Property name="type" value="simulation"/>
        </Properties>
      </Pedestrian>
    </ScenarioObject>
  </Entities>
  <Storyboard>
    <Init>
      <Actions>
        <GlobalAction>
          <EnvironmentAction>
            <Environment name="weather">
              <RoadCondition frictionScaleFactor="1.0"/>
              <Weather>
                <Precipitation precipitationType="rain" intensity="0.7449851821220737"/>
                <Fog visualRange="127626.804184"/>
                <Sun intensity="0.447033" elevation="3.141593" azimuth="0.9611"/>
              </Weather>
              <TimeOfDay dateTime="2020-01-01T12:00:00" animation="true"/>
            </Environment>
          </EnvironmentAction>
        </GlobalAction>
        <Private entityRef="hero">
          <PrivateAction>
            <ControllerAction>
              <AssignControllerAction>
                <Controller name="HeroAgent">
                  <Properties>
                    <Property name="module" value="external_control"/>
                  </Properties>
                </Controller>
              </AssignControllerAction>
              <OverrideControllerValueAction>
                <Throttle value="0" active="false"/>
                <Brake value="0" active="false"/>
                <Clutch value="0" active="false"/>
                <ParkingBrake value="0" active="false"/>
                <SteeringWheel value="0" active="false"/>
                <Gear number="0" active="false"/>
              </OverrideControllerValueAction>
            </ControllerAction>
          </PrivateAction>
          <PrivateAction>
            <LateralAction>
              <LaneOffsetAction continuous="true">
                <LaneOffsetTarget>
                  <AbsoluteTargetLaneOffset value="0.0"/>
                </LaneOffsetTarget>
                <LaneOffsetActionDynamics maxLateralAcc="10.0" dynamicsShape="linear"/>
              </LaneOffsetAction>
            </LateralAction>
          </PrivateAction>
          <PrivateAction>
            <TeleportAction>
              <Position>
                <LanePosition roadId="5" laneId="-1" offset="0" s="30"/>
              </Position>
            </TeleportAction>
          </PrivateAction>
        </Private>
        <Private entityRef="adversary">
          <PrivateAction>
            <LateralAction>
              <LaneOffsetAction continuous="true">
                <LaneOffsetTarget>
                  <RelativeTargetLaneOffset value="0.0" entityRef="adversary"/>
                </LaneOffsetTarget>
                <LaneOffsetActionDynamics maxLateralAcc="1.0" dynamicsShape="linear"/>
              </LaneOffsetAction>
            </LateralAction>
          </PrivateAction>
          <PrivateAction>
            <LongitudinalAction>
              <SpeedAction>
                <SpeedActionTarget>
                  <AbsoluteTargetSpeed value="10.0"/>
                </SpeedActionTarget>
                <SpeedActionDynamics value="1.5" dynamicsShape="step" dynamicsDimension="distance"/>
              </SpeedAction>
            </LongitudinalAction>
          </PrivateAction>
          <PrivateAction>
            <RoutingAction>
              <AssignRouteAction>
                <Route name="d-0" closed="false">
                  <Waypoint routeStrategy="shortest">
                    <Position>
                      <WorldPosition x="-128.5" y="-1.5" z="0.0" h="3.1415926"/>
                    </Position>
                  </Waypoint>
                  <Waypoint routeStrategy="shortest">
                    <Position>
                      <LanePosition roadId="1" laneId="1" offset="-2.781724146796636" s="45"/>
                    </Position>
                  </Waypoint>
                  <Waypoint routeStrategy="shortest">
                    <Position>
                      <LanePosition roadId="1" laneId="1" offset="1.4398457183267812" s="0"/>
                    </Position>
                  </Waypoint>
                  <Waypoint routeStrategy="shortest">
                    <Position>
                      <LanePosition roadId="5" laneId="-2" offset="2.6321894006830053" s="45"/>
                    </Position>
                  </Waypoint>
                </Route>
              </AssignRouteAction>
            </RoutingAction>
          </PrivateAction>
          <PrivateAction>
            <RoutingAction>
              <AssignRouteAction>
                <Route name="d-0" closed="false">
                  <Waypoint routeStrategy="shortest">
                    <Position>
                      <WorldPosition x="-128.5" y="-1.5" z="0.0" h="3.1415926"/>
                    </Position>
                  </Waypoint>
                  <Waypoint routeStrategy="shortest">
                    <Position>
                      <LanePosition roadId="1" laneId="1" offset="-0.9574761017182709" s="45"/>
                    </Position>
                  </Waypoint>
                  <Waypoint routeStrategy="shortest">
                    <Position>
                      <LanePosition roadId="1" laneId="1" offset="4.998056755719968" s="0"/>
                    </Position>
                  </Waypoint>
                  <Waypoint routeStrategy="shortest">
                    <Position>
                      <LanePosition roadId="5" laneId="-2" offset="-1.976123362814878" s="45"/>
                    </Position>
                  </Waypoint>
                </Route>
              </AssignRouteAction>
            </RoutingAction>
          </PrivateAction>
        </Private>
        <Private entityRef="pedestrian1">
          <PrivateAction>
            <TeleportAction>
              <Position>
                <WorldPosition x="-110" y="-10" z="0"/>
              </Position>
            </TeleportAction>
          </PrivateAction>
        </Private>
      </Actions>
    </Init>
    <Story name="MyStory">
      <Act name="Behaviour">
        <ManeuverGroup name="MyManeuverGroup" maximumExecutionCount="1">
          <Actors selectTriggeringEntities="false">
            <EntityRef entityRef="adversary"/>
          </Actors>
          <Maneuver name="MyManeuver">
            <Event name="speed_change_event-1" priority="overwrite">
              <Action name="MyEventAction">
                <PrivateAction>
                  <LongitudinalAction>
                    <SpeedAction>
                      <SpeedActionDynamics dynamicsShape="step" value="1.5" dynamicsDimension="distance"/>
                      <SpeedActionTarget>
                        <AbsoluteTargetSpeed value="25"/>
                      </SpeedActionTarget>
                    </SpeedAction>
                  </LongitudinalAction>
                </PrivateAction>
              </Action>
              <StartTrigger>
                <ConditionGroup>
                  <Condition name="EventTrigger1" delay="0" conditionEdge="none">
                    <ByValueCondition>
                      <SimulationTimeCondition value="0" rule="greaterOrEqual"/>
                    </ByValueCondition>
                  </Condition>
                </ConditionGroup>
              </StartTrigger>
            </Event>
            <Event name="MyEvent1" priority="overwrite">
              <Action name="MyEventAction">
                <PrivateAction>
                  <LongitudinalAction>
                    <SpeedAction>
                      <SpeedActionDynamics dynamicsShape="step" value="2.0" dynamicsDimension="distance"/>
                      <SpeedActionTarget>
                        <AbsoluteTargetSpeed value="0"/>
                      </SpeedActionTarget>
                    </SpeedAction>
                  </LongitudinalAction>
                </PrivateAction>
              </Action>
              <StartTrigger>
                <ConditionGroup>
                  <Condition name="EventTrigger1" delay="0" conditionEdge="none">
                    <ByValueCondition>
                      <SimulationTimeCondition value="30" rule="greaterOrEqual"/>
                    </ByValueCondition>
                  </Condition>
                </ConditionGroup>
              </StartTrigger>
            </Event>
            <Event priority="override" name="TrafficSignalEvent" maximumExecutionCount="1081">
              <Action name="signal_action">
                <GlobalAction>
                  <InfrastructureAction>
                    <TrafficSignalAction>
                      <TrafficSignalStateAction name="pos=46.349998,-178.500000" state="yellow"/>
                    </TrafficSignalAction>
                  </InfrastructureAction>
                </GlobalAction>
              </Action>
            </Event>
          </Maneuver>
        </ManeuverGroup>
        <StartTrigger/>
        <StopTrigger>
          <ConditionGroup>
            <Condition name="EndCondition" delay="0" conditionEdge="none">
              <ByValueCondition>
                <SimulationTimeCondition value="60" rule="greaterOrEqual"/>
              </ByValueCondition>
            </Condition>
          </ConditionGroup>
        </StopTrigger>
      </Act>
      <Act name="PedestrianAct">
        <ManeuverGroup name="PedestrianManeuver" maximumExecutionCount="1">
          <Actors selectTriggeringEntities="false">
            <EntityRef entityRef="pedestrian1"/>
          </Actors>
          <Maneuver name="Pedestrian1RouteManeuver">
            <Event name="Pedestrian1WalksEvent" priority="overwrite">
              <Action name="Pedestrian1Walks">
                <PrivateAction>
                  <LongitudinalAction>
                    <SpeedAction>
                      <SpeedActionDynamics dynamicsShape="sinusoidal" value="6.434985208621671" dynamicsDimension="time"/>
                      <SpeedActionTarget>
                        <AbsoluteTargetSpeed value="1.9297630547828803"/>
                      </SpeedActionTarget>
                    </SpeedAction>
                  </LongitudinalAction>
                </PrivateAction>
              </Action>
              <StartTrigger>
                <ConditionGroup>
                  <Condition name="Pedestrian1WalksCondition" delay="0" conditionEdge="rising">
                    <ByValueCondition>
                      <SimulationTimeCondition value="2.0" rule="greaterOrEqual"/>
                    </ByValueCondition>
                  </Condition>
                </ConditionGroup>
              </StartTrigger>
            </Event>
          </Maneuver>
        </ManeuverGroup>
        <StartTrigger/>
        <StopTrigger>
          <ConditionGroup>
            <Condition name="Pedestrian1StopCondition" delay="0" conditionEdge="none">
              <ByValueCondition>
                <SimulationTimeCondition value="60.0" rule="greaterOrEqual"/>
              </ByValueCondition>
            </Condition>
          </ConditionGroup>
        </StopTrigger>
      </Act>
    </Story>
    <StopTrigger/>
  </Storyboard>
</OpenScenario>

Hopefully I can get some help. Thanks!!