Fixed Broken Code Due to Upgrade of Lanelet2

[mchlswyr]

• Here it mentions that to get LaneletMap() from a Route object, you now need to use LaneletSubmap().LaneletMap().
• This seems to be the only change, from lanelet2_standalone to Lanelet2, that affects GSServer.py

  Testing

• Don't forget to setup the new Lanelet2:

  $ cd ~/geoscenarioserver # or wherever you have it
  $ bash scripts/install_dependencies.bash
  $ source catkin_ws/devel/setup.bash

• Some of the scenarios don't work yet (because they contain an ego_start, e.g.)
• However, all of the scenarios/test_scenarios should work
• Here is a bash script you can use to run all scenarios/test_scenarios (make sure you are in the geoscenarioserver directory):

  
  #!/bin/bash
  scenarios=$(ls scenarios/test_scenarios)

kill_python38() { killall python3.8 }

for scenario in $scenarios; do read -p "Press ENTER to run next scenario:" trap kill_python38 SIGINT python3.8 GSServer.py -s "scenarios/test_scenarios/${scenario}" trap - SIGINT done

- Press `Enter` to run the next scenario, or `Ctrl + C` while this text it being displayed to exit the test
- While a scenario is running, you can end it with `Ctrl + C`, and go on to the next one

[mchlswyr]

Notes

• I noticed that scenarios/test_scenarios/gs_ringroad_single.osm doesn't seem to work (the road, franet frame, cartesian plot, etc. are all blank). I removed line 9 (<tag k='plotvid' v='5' />) in gs_ringroad_single.osm, and it seems to work.
• Also, scenarios/test_scenarios/gs_ringroad_stress_loop.osm does not even launch:

  $ python3.8 GSServer.py -s scenarios/test_scenarios/gs_ringroad_stress_loop.osm
  I0209 17:22:03.168443 15153 GSServer.py:21] GeoScenario server START
  I0209 17:22:03.168551 15153 ScenarioSetup.py:25] Loading GeoScenario file: scenarios/test_scenarios/gs_ringroad_stress_loop.osm
  E0209 17:22:03.193989 15153 ScenarioSetup.py:93] Route generation failed for route north_route.
  Traceback (most recent call last):
  File "GSServer.py", line 97, in <module>
  start_server(args)
  File "GSServer.py", line 33, in start_server
  res = load_geoscenario_from_file(args.gsfile, traffic, sim_config, lanelet_map)
  File "/home/ms/anm_unreal_sim/submodules/geoscenarioserver/ScenarioSetup.py", line 94, in load_geoscenario_from_file
  raise e
  File "/home/ms/anm_unreal_sim/submodules/geoscenarioserver/ScenarioSetup.py", line 90, in load_geoscenario_from_file
  sim_config.lanelet_routes[vid] = lanelet_map.get_route_via(lanelets_in_route)
  File "/home/ms/anm_unreal_sim/submodules/geoscenarioserver/mapping/LaneletMap.py", line 110, in get_route_via
  assert route
  AssertionError

• All of the other scenarios (in scenarios/test_scenarios) run, but most crash with:

  Log all trajectories: 
  Traceback (most recent call last):
  File "GSServer.py", line 97, in <module>
  start_server(args)
  File "GSServer.py", line 76, in start_server
  traffic.stop_all()
  File "/home/ms/anm_unreal_sim/submodules/geoscenarioserver/SimTraffic.py", line 83, in stop_all
  self.write_log_trajectories()
  File "/home/ms/anm_unreal_sim/submodules/geoscenarioserver/SimTraffic.py", line 239, in write_log_trajectories
  with open(filename,mode='w') as csv_file:
  FileNotFoundError: [Errno 2] No such file or directory: 'eval/trajlog/_1.csv'

[rodrigoqueiroz]

About the crash with SimTraffic 239. It is trying to log the trajectories after the simulation run. It crashes because it can't find the folder eval/trajlog/ This is supposed to happen only for evaluation. Change this flag to False in the SimConfig. WRITE_TRAJECTORIES = False

[rodrigoqueiroz]

• E0209 17:22:03.193989 15153 ScenarioSetup.py:93] Route generation failed for route north_route. Traceback (most recent call last): File "GSServer.py", line 97, in start_server(args) File "GSServer.py", line 33, in start_server res = load_geoscenario_from_file(args.gsfile, traffic, sim_config, lanelet_map) File "/home/ms/anm_unreal_sim/submodules/geoscenarioserver/ScenarioSetup.py", line 94, in load_geoscenario_from_file raise e File "/home/ms/anm_unreal_sim/submodules/geoscenarioserver/ScenarioSetup.py", line 90, in load_geoscenario_from_file sim_config.lanelet_routes[vid] = lanelet_map.get_route_via(lanelets_in_route) File "/home/ms/anm_unreal_sim/submodules/geoscenarioserver/mapping/LaneletMap.py", line 110, in get_route_via assert route AssertionError

This is a common error. The lanelet library is trying to build a route based on the vehicle location + every point along the route. Usually it fails because one of the points is outside a valid lanelet, or there is not a valid connection between lanelets (either there is no route or the map does not have the tags right)

Our ringroad map was converted from lanelet1 to lanelet2. and it is not fully compatible. Different versions of the library can be more or less strict to some of these problems.

[mchlswyr]

Update

• In SimConfig.py change WRITE_TRAJECTORIES = False (to fix the third error mentioned here)
• The other two errors have been fixed
• The first, was not actually an issue: the plots all appeared blank because I didn't have a vehicle in focus (since by default it was trying to focus on the vehicle with vid = 5, which doesn't exist)
• The second error was solved by changing the ringroad.osm map that was being used
• Running the script mentioned here should now work for all scenarios (the only error should occur when it tries to run README.md at the end)
• Note that scenarios/test_scenarios/gs_intersection_greenlight.osm, scenarios/test_scenarios/gs_ringroad_single.osm, scenarios/test_scenarios/gs_ringroad_stress_loop.osm all have really long timeouts (the others are only either 10 or 20 seconds), so you may want to Ctrl + C to end them