Includes: GeoScenario Parser, Checker, Sim Vehicle Planner with Behavior Trees and Maneuver Models.
GeoScenario Server can run natively on Linux, within a conda-forge environment, or on WSL2.
Tested on native Ubuntu 20.04, 22.04, 24.04, and within Windows 10 WSL2.
Exception: Could not deserialize ATN with version (expected 4).
)To automatically install the dependencies for linux native, execute
bash scripts/install_dependencies.bash
Alternatively, to automatically create a conda-forge environment called gss
with the required packages, execute
bash scripts/setup_conda-forge_env.bash
python3 GSServer.py -s scenarios/<geoscenario_file>
to start the Server.optional arguments:
-h, --help show this help message and exit
-s [FILE [FILE ...]], --scenario [FILE [FILE ...]]
GeoScenario file. If no file is provided, the GSServer will load a scenario from code
-q VERBOSE, --quiet VERBOSE
don't print messages to stdout
-m, --map-path
Set the prefix to append to the value of the attribute `globalconfig->lanelet`
e.g. --map-path $HOME/anm_unreal_test_suite/maps
-b, --btree-locations
Add higher priority locations to search for btrees by agent btypes
e.g. --btree-locations $HOME/anm_unreal_test_suite/btrees
--scenario
option can take more than one .osm
file as its argumentspython3 GSServer.py --scenario scenarios/test_scenarios/gs_straight_obstacles.osm scenarios/test_scenarios/gs_straight_pedestrian.osm
globalconfig
and origin
, the elements from each scenario are loaded and combined at runtimeglobalconfig
and origin
are used from the first .osm
file that is specified (which is gs_straight_obstacles.osm
in the example)vid
s and pid
s--scenario
option, then an error will be reportedvid
and pid
conflicts must be resolved before running GSServer.py
vid
and pedestrians with no pid
vid
s and pid
svid
s and pids
will start from 1 and won't conflict with the other vid
s and pid
shttps://geoscenario2.readthedocs.io/
GeoScenario Server running in High Fidelity Simulation with UE5 and Carla
rqueiroz@uwaterloo.ca