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lgsvl / simulator

A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
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Ego vehicle drives through NPC vehicles #1850

Open krtt opened 2 years ago

krtt commented 2 years ago

Sim v2021.3 (Linux) Apollo 6.0 (Modular testing) Public map: Tartu Beta Release 3 Ego vehicle: SVL Lincoln (but similar problem is also with our custom car)

Illustrative video:

https://user-images.githubusercontent.com/22684441/139842278-76b70607-3dce-434d-80c5-1ad5cc8163ee.mp4

Related test scenario json created in VSE and run with VSE runner:

vse_sim3_full_lap_fromPocket_lincoln_npcVehicles_bus.zip

With NPC pedestrians it is the same or even worse where ego vehicle drives through them (but this issue is already reported by somebody else).

EricBoiseLGSVL commented 2 years ago

Yes, there is no collision in api simulations, If you want that you need to change the source code. See here. #1802 As for pedestrian ground truth, we are working on a fix for api spawned pedestrians and hope to release a fix soon.