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usdot-fhwa-stol / cdasim

CDASim is an open-source simulation system supporting the development and testing of Cooperative Driving Automation applications.
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carma-platform and carma-simulation crashing #14

Open DokurOmkar opened 3 years ago

DokurOmkar commented 3 years ago

Types of Issue

Descriptive summary

I have set up a native Ubuntu 16.04 machine with the following configuration (8 core processor, 24GB RAM, GeForce 1650 Graphics) and followed the confluence page here to set up the CARMA platform.

ubuntu_16_machine_config

I have followed the documentation here and took help from @msmcconnell to set up the simulation environment which is shown below.

The below image shows the terminal for the command python3.5 CARLA_server_interface.py

carma_carla_sim

The below image shows the two terminals with carma start all command on left and python3.5 CARLA_server_interface.py command on the right along with pygame and CarlaUE4 windows on the bottom.

simulation_running

With this running, I have opened the web-ui at http://localhost/index.html and clicked on Start Platform button without selecting Debug Mode or Rosbag Record. The carma-platform crashed by giving the following error - carla-ackermann-control-driver exited with code 137 and the carma-simulation also crashed with the following error - Could not generate JSON [Errno 32] Broken pipe as shown in image below.

carma_carla_sim_crash

And the web-ui loaded the http://localhost/main.html after both the processes crashed and landed on the Route page as shown below.

carma_carla_ui

I have also tried the above steps by selecting the debug mode on the web-ui and both carma-platform as well as carma-simulation crashed again as shown in images below:

carma_crash_debug_mode

carla_carma_crash_debug_mode

Carma version where this issue was discovered

CARMA3 Ubuntu 16.04 Docker version 20.10.5

Expected behavior

CARMA-CARLA simulation should run successfully.

Actual behavior

Both carma-pltform and carma-simulation is crashing

Steps to reproduce the actual behavior

  1. Start Carla Simulation server cd /opt/carla-simulator/bin ./CarlaUE4.sh

  2. Start CARLA simulator client cd ~/carma-simulation/carla_carma/src/carla_carma python3.5 CARLA_server_interface.py

  3. Start CARMA carma start all

  4. Start Platform on web-ui

kjrush commented 3 years ago

Thank you for filing this issue! I'll try to find someone to follow up with you on this and dig a bit deeper. I know we have some know issues with carma-simulation since we updated how CARMA's internal planning logic works in 3.5.0 but depending on how you're running carma-simulation that may not be the issue at hand. Can you post or link to the carma config version you're running?

DokurOmkar commented 3 years ago

@kjrush Thank you for looking into this issue. I have followed the link here to setup CARMA config: https://usdot-carma.atlassian.net/wiki/spaces/CRMPLT/pages/488472599/Setup+CARMA+Platform+Runtime which is as below:

# carma config install usdotfhwastoldev/carma-config:develop-development carma config set usdotfhwastoldev/carma-config:develop-development #

Please let me know if you need anything else!

Thank you!

DokurOmkar commented 3 years ago

Thank you for filing this issue! I'll try to find someone to follow up with you on this and dig a bit deeper. I know we have some know issues with carma-simulation since we updated how CARMA's internal planning logic works in 3.5.0 but depending on how you're running carma-simulation that may not be the issue at hand. Can you post or link to the carma config version you're running?

Hello @kjrush,

May I please know if you were able to look into this issue?

Thank you!

kjrush commented 3 years ago

My apologies, it's on our backlog but we haven't had a chance to really look into it yet. We're pretty resource constrained as far as engineers go right now as we conduct validation testing for CARMA itself over the next few weeks, but I can try to see if we can fit this in somewhere. Either I or Safak will reach out to you in the next couple days with hopefully some more info or options to follow up on this.

DokurOmkar commented 3 years ago

My apologies, it's on our backlog but we haven't had a chance to really look into it yet. We're pretty resource constrained as far as engineers go right now as we conduct validation testing for CARMA itself over the next few weeks, but I can try to see if we can fit this in somewhere. Either I or Safak will reach out to you in the next couple days with hopefully some more info or options to follow up on this.

Thank you very much @kjrush! Please let me know if you need any more info on the issue!!

DokurOmkar commented 3 years ago

@kjrush Can you please have a look at this issue and help us get started with the simulation of CARMA and CARLA?

qw2334 commented 3 years ago

@kjrush Can you please have a look at this issue and help us get started with the simulation of CARMA and CARLA?

Hi @DokurOmkar,

I currently have the same issue like yours. May I know if you have found the solution yet? Thank you.

thuns001 commented 2 years ago

Hi @DokurOmkar,

I have a quick question. Which version of the carla python API did you use? For python 3.5, I saw there are only up to 0.9.5 version. Also which version of CARLA Simulator did you use? Thank you very much.