Update to CARLA 0.9.12

* Added compatibility with CARLA 0.9.12

Author: glopezdiest

CARLA_VER

@@ -1,2 +1,2 @@
 HOST = https://carla-releases.s3.eu-west-3.amazonaws.com/Linux
-RELEASE=CARLA_0.9.10
+RELEASE=CARLA_0.9.12

Docs/CHANGELOG.md

@@ -1,5 +1,6 @@
 ## Table of Contents
 * [Latest Changes](#latest-changes)
+* [CARLA ScenarioRunner 0.9.12](#carla-scenariorunner-0912)
 * [CARLA ScenarioRunner 0.9.11](#carla-scenariorunner-0911)
 * [CARLA ScenarioRunner 0.9.10](#carla-scenariorunner-0910)
 * [CARLA ScenarioRunner 0.9.9](#carla-scenariorunner-099)
@@ -10,7 +11,9 @@
 * [CARLA ScenarioRunner 0.9.5](#carla-scenariorunner-095)
 * [CARLA ScenarioRunner 0.9.2](#carla-scenariorunner-092)
 
-## Latest Changes
+## Latest changes
+
+## CARLA ScenarioRunner 0.9.12
 ### :rocket: New Features
 * OpenSCENARIO support:
     - Added support for LongitudinalDistanceAction

Docs/creating_new_scenario.md

@@ -88,7 +88,7 @@ If you want to add multiple ego vehicles for a scenario, make sure that they use
 role names, e.g.
 ```
     <scenario name="MultiEgoTown03" type="FreeRide" town="Town03">
-        <ego_vehicle x="207" y="59" z="0" yaw="180" model="vehicle.lincoln.mkz2017" rolename="hero"/>
+        <ego_vehicle x="207" y="59" z="0" yaw="180" model="vehicle.lincoln.mkz_2017" rolename="hero"/>
         <ego_vehicle x="237" y="-95.0754252474" z="0" yaw="90" model="vehicle.tesla.model3" rolename="hero2"/>
     </scenario>
 ```

README.md

@@ -21,6 +21,7 @@ branch contains the latest fixes and features, and may be required to use the la
 
 It is important to also consider the release version that has to match the CARLA version.
 
+* [Version 0.9.12](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.12) and the 0.9.12 Branch: Compatible with [CARLA 0.9.12](https://github.com/carla-simulator/carla/releases/tag/0.9.12)
 * [Version 0.9.11](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.11) and the 0.9.11 Branch: Compatible with [CARLA 0.9.11](https://github.com/carla-simulator/carla/releases/tag/0.9.11)
 * [Version 0.9.10](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.10) and the 0.9.10 Branch: Compatible with [CARLA 0.9.10](https://github.com/carla-simulator/carla/releases/tag/0.9.10)
 * [Version 0.9.9](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.9) and the 0.9.9 Branch: Compatible with [CARLA 0.9.9](https://github.com/carla-simulator/carla/releases/tag/0.9.9). Use the 0.9.9 branch, if you use CARLA 0.9.9.4.

manual_control.py

@@ -119,6 +119,11 @@ def restart(self):
         actor_type = get_actor_display_name(self.player)
         self.hud.notification(actor_type)
 
+        if self.sync:
+            self.world.tick()
+        else:
+            self.world.wait_for_tick()
+
     def tick(self, clock):
         if len(self.world.get_actors().filter(self.player_name)) < 1:
             return False
@@ -150,7 +155,7 @@ def game_loop(args):
         clock = pygame.time.Clock()
         while True:
             clock.tick_busy_loop(60)
-            if controller.parse_events(client, world, clock):
+            if controller.parse_events(client, world, clock, args.sync):
                 return
             if not world.tick(clock):
                 return
@@ -204,6 +209,25 @@ def main():
         metavar='WIDTHxHEIGHT',
         default='1280x720',
         help='window resolution (default: 1280x720)')
+    argparser.add_argument(
+        '--generation',
+        metavar='G',
+        default='2',
+        help='restrict to certain actor generation (values: "1","2","All" - default: "2")')
+    argparser.add_argument(
+        '--gamma',
+        default=2.2,
+        type=float,
+        help='Gamma correction of the camera (default: 2.2)')
+    argparser.add_argument(
+        '-s', '--seed',
+        help='Set seed for repeating executions (default: None)',
+        default=None,
+        type=int)
+    argparser.add_argument(
+        '--sync',
+        action='store_true',
+        help='Activate synchronous mode execution')
     argparser.add_argument(
         '--rolename',
         metavar='NAME',
@@ -216,7 +240,6 @@ def main():
     args = argparser.parse_args()
 
     args.filter = "vehicle.*"   # Needed for CARLA version
-    args.gamma = 2.2   # Needed for CARLA version
     args.width, args.height = [int(x) for x in args.res.split('x')]
 
     log_level = logging.DEBUG if args.debug else logging.INFO

no_rendering_mode.py

@@ -954,7 +954,7 @@ def update_hud_info(self, clock):
             'Server:  % 16s FPS' % self.server_fps,
             'Client:  % 16s FPS' % round(clock.get_fps()),
             'Simulation Time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)),
-            'Map Name:          %10s' % self.town_map.name,
+            'Map Name:          %10s' % self.town_map.name.split('/')[-1],
         ]
 
         module_info_text = module_info_text

scenario_runner.py

@@ -41,7 +41,7 @@
 from srunner.tools.route_parser import RouteParser
 
 # Version of scenario_runner
-VERSION = '0.9.11'
+VERSION = '0.9.12'
 
 
 class ScenarioRunner(object):
@@ -89,11 +89,10 @@ def __init__(self, args):
         # requests in the localhost at port 2000.
         self.client = carla.Client(args.host, int(args.port))
         self.client.set_timeout(self.client_timeout)
-        CarlaDataProvider.set_client(self.client)
 
         dist = pkg_resources.get_distribution("carla")
-        if LooseVersion(dist.version) < LooseVersion('0.9.11'):
-            raise ImportError("CARLA version 0.9.11 or newer required. CARLA version found: {}".format(dist))
+        if LooseVersion(dist.version) < LooseVersion('0.9.12'):
+            raise ImportError("CARLA version 0.9.12 or newer required. CARLA version found: {}".format(dist))
 
         # Load agent if requested via command line args
         # If something goes wrong an exception will be thrown by importlib (ok here)
@@ -330,6 +329,8 @@ def _load_and_wait_for_world(self, town, ego_vehicles=None):
             settings.synchronous_mode = True
             settings.fixed_delta_seconds = 1.0 / self.frame_rate
             self.world.apply_settings(settings)
+
+        CarlaDataProvider.set_client(self.client)
         CarlaDataProvider.set_world(self.world)
 
         # Wait for the world to be ready
@@ -338,8 +339,9 @@ def _load_and_wait_for_world(self, town, ego_vehicles=None):
         else:
             self.world.wait_for_tick()
 
-        if CarlaDataProvider.get_map().name != town and CarlaDataProvider.get_map().name != "OpenDriveMap":
-            print("The CARLA server uses the wrong map: {}".format(CarlaDataProvider.get_map().name))
+        map_name = CarlaDataProvider.get_map().name.split('/')[-1]
+        if map_name not in (town, "OpenDriveMap"):
+            print("The CARLA server uses the wrong map: {}".format(map_name))
             print("This scenario requires to use map: {}".format(town))
             return False
 

srunner/examples/ChangeLane.xml

@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <scenarios>
     <scenario name="ChangeLane_1" type="ChangeLane" town="Town04">
-        <ego_vehicle x="284.4" y="16.4" z="2.5" yaw="-173" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="284.4" y="16.4" z="2.5" yaw="-173" model="vehicle.lincoln.mkz_2017" />
 	<!-- spawn actors-->
 	<other_actor x="264.4" y="16.3" z="-500" yaw="-179" model="vehicle.tesla.model3" />
 	<other_actor x="184.4" y="14.9" z="-500" yaw="-176" model="vehicle.volkswagen.t2" />
         <weather cloudiness="0" precipitation="0" precipitation_deposits="0" wind_intensity="0" sun_azimuth_angle="0" sun_altitude_angle="75" />
     </scenario>
     <scenario name="ChangeLane_2" type="ChangeLane" town="Town01">
-        <ego_vehicle x="107" y="133.5" z="0.5" yaw="0" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="107" y="133.5" z="0.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
     </scenario>
 </scenarios>

srunner/examples/ChangingWeather.xosc

@@ -9,7 +9,7 @@
   </RoadNetwork>
   <Entities>
     <ScenarioObject name="hero">
-      <Vehicle name="vehicle.lincoln.mkz2017" vehicleCategory="car">
+      <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
         <ParameterDeclarations/>
         <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
         <BoundingBox>

srunner/examples/ControlLoss.xml

@@ -1,48 +1,48 @@
 <?xml version="1.0"?>
 <scenarios>
     <scenario name="ControlLoss_1" type="ControlLoss" town="Town01">
-        <ego_vehicle x="392.5" y="195" z="0.5" yaw="90" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="392.5" y="195" z="0.5" yaw="90" model="vehicle.lincoln.mkz_2017" />
     </scenario>
     <scenario name="ControlLoss_2" type="ControlLoss" town="Town01">
-        <ego_vehicle x="-2.0" y="160" z="0.5" yaw="90" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="-2.0" y="160" z="0.5" yaw="90" model="vehicle.lincoln.mkz_2017" />
     </scenario>
     <scenario name="ControlLoss_3" type="ControlLoss" town="Town01">
-        <ego_vehicle x="168.9" y="59.8" z="0.5" yaw="0" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="168.9" y="59.8" z="0.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
     </scenario>
     <scenario name="ControlLoss_4" type="ControlLoss" town="Town02">
-        <ego_vehicle x="27" y="110" z="0.22" yaw="0" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="27" y="110" z="0.22" yaw="0" model="vehicle.lincoln.mkz_2017" />
     </scenario>
     <scenario name="ControlLoss_5" type="ControlLoss" town="Town02">
-        <ego_vehicle x="54.8" y="307.2" z="0.22" yaw="0" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="54.8" y="307.2" z="0.22" yaw="0" model="vehicle.lincoln.mkz_2017" />
     </scenario>
     <scenario name="ControlLoss_6" type="ControlLoss" town="Town02">
-        <ego_vehicle x="57.4" y="191.7" z="0.5" yaw="0" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="57.4" y="191.7" z="0.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
     </scenario>
     <scenario name="ControlLoss_7" type="ControlLoss" town="Town03">
-        <ego_vehicle x="15" y="207.5" z="2" yaw="0" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="15" y="207.5" z="2" yaw="0" model="vehicle.lincoln.mkz_2017" />
     </scenario>
     <scenario name="ControlLoss_8" type="ControlLoss" town="Town03">
-        <ego_vehicle x="-74" y="-12" z="0.1" yaw="270" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="-74" y="-12" z="0.1" yaw="270" model="vehicle.lincoln.mkz_2017" />
     </scenario>
     <scenario name="ControlLoss_9" type="ControlLoss" town="Town03">
-        <ego_vehicle x="-85.1" y="-87.4" z="0.3" yaw="89" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="-85.1" y="-87.4" z="0.3" yaw="89" model="vehicle.lincoln.mkz_2017" />
     </scenario>
     <scenario name="ControlLoss_10" type="ControlLoss" town="Town04">
-        <ego_vehicle x="218.4" y="193" z="0" yaw="338" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="218.4" y="193" z="0" yaw="338" model="vehicle.lincoln.mkz_2017" />
     </scenario>
     <scenario name="ControlLoss_11" type="ControlLoss" town="Town04">
-        <ego_vehicle x="-40.4" y="-229.5" z="0" yaw="131" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="-40.4" y="-229.5" z="0" yaw="131" model="vehicle.lincoln.mkz_2017" />
     </scenario>
     <scenario name="ControlLoss_12" type="ControlLoss" town="Town04">
-        <ego_vehicle x="-45" y="37.2" z="11" yaw="0" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="-45" y="37.2" z="11" yaw="0" model="vehicle.lincoln.mkz_2017" />
     </scenario>
     <scenario name="ControlLoss_13" type="ControlLoss" town="Town05">
-        <ego_vehicle x="90.9" y="-66" z="0" yaw="67" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="90.9" y="-66" z="0" yaw="67" model="vehicle.lincoln.mkz_2017" />
     </scenario>
     <scenario name="ControlLoss_14" type="ControlLoss" town="Town05">
-        <ego_vehicle x="-54.7" y="110.9" z="0.1" yaw="90" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="-54.7" y="110.9" z="0.1" yaw="90" model="vehicle.lincoln.mkz_2017" />
     </scenario>
     <scenario name="ControlLoss_15" type="ControlLoss" town="Town05">
-        <ego_vehicle x="119.1" y="-142.7" z="0.1" yaw="-170" model="vehicle.lincoln.mkz2017" />
+        <ego_vehicle x="119.1" y="-142.7" z="0.1" yaw="-170" model="vehicle.lincoln.mkz_2017" />
     </scenario>
 </scenarios>