Open ll7 opened 7 months ago
dev
configuration is not allowed.@okrusch
From my perspective, you used the following code in your dev_objects.json: https://github.com/una-auxme/paf23/blob/7f5c521f202d65c8bcff22f4787569cfff05c94f/code/agent/config/dev_objects.json#L114-L123
I think that you are only allowed to use x, y, z, roll, pitch, yaw
in the leaderboard.
https://leaderboard.carla.org/get_started/#33-override-the-sensors-method mentions you can only use the following:
{'type': 'sensor.lidar.ray_cast', 'id': 'LIDAR',
'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': -45.0},
Furthermore, this section mentions:
Most of the sensor attributes have fixed values. These can be checked in agent_wrapper.py. This is done so that all the teams compete within a common sensor framework.
So, rotation_frequency
is not a parameter you are allowed to change.
https://wiki.ros.org/pcl_conversions
https://docs.ros.org/en/indigo/api/pcl_conversions/html/namespacepcl.html
Vision Node does not produce any output image.
https://github.com/carla-simulator/carla/issues/2886#issuecomment-650014811
Indicates that <arg name='fixed_delta_seconds' default='0.1'/>
has to be equal to the rotation frequency of the lidar.
Game Time in the leaderboard is not yet configured correctly.
paf23-agent/opt/leaderboard/leaderboard/leaderboard_evaluator.py
Sets the frame_rate = 20.0
. How can I change this to 10.0?
This comment shows that a mismatch between the LIDAR frequency and the world frame-rate is a known problem.
https://github.com/carla-simulator/leaderboard/issues/54#issuecomment-667710527
This commit changes the world frame_rate
from 20
to 10
to match the LIDAR rotation frequency. This change was committed to a fork of the leaderboard repository in our organization.
https://github.com/una-auxme/leaderboard/commit/0506c4c4cdd5a0896a5bd6b40a558e5050f66965
Info: We can decide to use any other frame rate!
final screencast with frame_rate=10 and lidar freq = 10
Due to https://github.com/carla-simulator/leaderboard/pull/167#issuecomment-2066320231 I changed the lidar Frequency from 10 to 20 and the world fps from 10 to 20 in https://github.com/una-auxme/leaderboard/commit/55a60afc4d60ec1e6766c8640106d377f788fbc5
We should track any further development in https://github.com/carla-simulator/leaderboard/pull/167
Current Behavior
Lidar displays only one half of the rotation.
Expected Behavior
Lidar should improve the such that identified objects can be reliably located.
How to reproduce the issue
No response