Merge pull request #626 from Qi-Zha0/noetic-devel

generate traffic

behavior_metrics/configs/default_carla_traffic.yml

@@ -0,0 +1,78 @@
+Behaviors:
+    Robot:
+        Sensors:
+            Cameras:
+                Camera_0:
+                    Name: 'camera_0'
+                    Topic: '/carla/ego_vehicle/rgb_front/image'
+                Camera_1:
+                    Name: 'camera_1'
+                    Topic: '/carla/ego_vehicle/rgb_view/image'
+                Camera_2:
+                    Name: 'camera_2'
+                    Topic: '/carla/ego_vehicle/semantic_segmentation_front/image'
+                Camera_3:
+                    Name: 'camera_3'
+                    Topic: '/carla/ego_vehicle/dvs_front/image'
+            Pose3D:
+                Pose3D_0:
+                    Name: 'pose3d_0'
+                    Topic: '/carla/ego_vehicle/odometry'
+            BirdEyeView:
+                BirdEyeView_0:
+                    Name: 'bird_eye_view_0'
+                    Topic: ''
+            Speedometer:
+                Speedometer_0:
+                    Name: 'speedometer_0'
+                    Topic: '/carla/ego_vehicle/speedometer'
+        Actuators:
+            CARLA_Motors:
+                Motors_0:
+                    Name: 'motors_0'
+                    Topic: '/carla/ego_vehicle/vehicle_control_cmd'
+                    MaxV: 3
+                    MaxW: 0.3
+        BrainPath: 'brains/CARLA/brain_carla_bird_eye_deep_learning.py'
+        PilotTimeCycle: 50
+        AsyncMode: False
+        Parameters:
+            Model: '20230126-183457_deepestLSTMTinyPilotNet_CARLA_14_12_dataset_bird_eye_400_epochs_no_flip_3_output_both_directions_all_towns__less_learning_rate_PAPER_cp.h5'
+            ImageCropped: True
+            ImageSize: [ 100,50 ]
+            ImageNormalized: True
+            PredictionsNormalized: True
+            GPU: True
+            UseOptimized: True
+            ImageTranform: ''
+        Type: 'CARLA'
+    Simulation:
+        World: configs/CARLA_launch_files/town_01_anticlockwise.launch
+        RandomSpawnPoint: False
+        NumberOfVehicle: 50
+        NumberOfWalker: 50
+        PercentagePedestriansRunning: 0.5
+        PercentagePedestriansCrossing: 0.5
+    Dataset:
+        In: '/tmp/my_bag.bag'
+        Out: ''
+    Stats:
+        Out: './'
+        PerfectLap: './perfect_bags/lap-simple-circuit.bag'
+    Layout:
+        Frame_0:
+            Name: frame_0
+            Geometry: [1, 1, 1, 1]
+            Data: rgbimage
+        Frame_1:
+            Name: frame_1
+            Geometry: [0, 1, 1, 1]
+            Data: rgbimage
+        Frame_2:
+            Name: frame_2
+            Geometry: [0, 2, 1, 1]
+            Data: rgbimage
+        Frame_3:
+            Name: frame_3
+            Geometry: [1, 2, 1, 1]
+            Data: rgbimage

behavior_metrics/driver_carla.py

@@ -7,21 +7,22 @@
 import glob
 import json
 
-from pilot_carla import PilotCarla
+
 from ui.tui.main_view import TUI
 from utils import environment
+from utils.traffic import TrafficManager
 from utils.colors import Colors
 from utils.configuration import Config
 from utils.controller_carla import ControllerCarla
 from utils.logger import logger
 from utils.tmp_world_generator import tmp_world_generator
 from utils import metrics_carla
 from datetime import datetime
+from pilot_carla import PilotCarla
 
 import matplotlib.pyplot as plt
 import pandas as pd
 
-
 def check_args(argv):
     """Function that handles argument checking and parsing.
 
@@ -281,6 +282,12 @@ def main():
     if not config_data['script']:
         environment.launch_env(app_configuration.current_world, random_spawn_point=app_configuration.experiment_random_spawn_point, carla_simulator=True)
         controller = ControllerCarla()
+        traffic_manager = TrafficManager(app_configuration.number_of_vehicle, 
+                                         app_configuration.number_of_walker, 
+                                         app_configuration.percentage_walker_running, 
+                                         app_configuration.percentage_walker_crossing,
+                                         app_configuration.async_mode)
+        traffic_manager.generate_traffic()
 
         # Launch control
         if hasattr(app_configuration, 'experiment_model'):
@@ -293,6 +300,7 @@ def main():
         logger.info('Executing app')
         main_win(app_configuration, controller)
         logger.info('closing all processes...')
+        traffic_manager.destroy()
         pilot.kill_event.set()
         environment.close_ros_and_simulators()
     else:

behavior_metrics/pilot_carla.py

@@ -165,6 +165,8 @@ def run(self):
                     time.sleep((self.time_cycle - ms) / 1000.0)
                 self.real_time_factors.append(self.real_time_factor)
                 self.brain_iterations_simulated_time.append(self.ros_clock_time - start_time_ros)
+                if not self.async_mode:
+                    self.controller.world.tick()
         self.execution_completed = True
         self.kill()
         logger.info('Pilot: pilot killed.')

behavior_metrics/robot/interfaces/birdeyeview.py

@@ -10,13 +10,17 @@ def __init__(self):
             client,  # carla.Client
             target_size=PixelDimensions(width=100, height=300),
             pixels_per_meter=10,
+            render_lanes_on_junctions=True,
             crop_type=BirdViewCropType.FRONT_AREA_ONLY
         )
 
     def getImage(self, vehicle):
-        birdview = self.birdview_producer.produce(
-            agent_vehicle=vehicle  # carla.Actor (spawned vehicle)
-        )
+        try:
+            birdview = self.birdview_producer.produce(
+                agent_vehicle=vehicle  # carla.Actor (spawned vehicle)
+            )
+        except Exception as ex:
+            print(ex)
         # Mask to RGB image
         image = BirdViewProducer.as_rgb(birdview)
         return image

behavior_metrics/utils/configuration.py

@@ -140,6 +140,23 @@ def initialize_configuration(self, config_data):
             self.spawn_points = config_data['Behaviors']['Simulation']['SpawnPoints']
         else:
             self.spawn_points = []
+
+        if 'NumberOfVehicle' in config_data['Behaviors']['Simulation']:
+            self.number_of_vehicle = config_data['Behaviors']['Simulation']['NumberOfVehicle']
+        else:
+            self.number_of_vehicle = 0
+        if 'NumberOfWalker' in config_data['Behaviors']['Simulation']:
+            self.number_of_walker = config_data['Behaviors']['Simulation']['NumberOfWalker']
+        else:
+            self.number_of_walker = 0
+        if 'PercentagePedestriansRunning' in config_data['Behaviors']['Simulation']:
+            self.percentage_walker_running = config_data['Behaviors']['Simulation']['PercentagePedestriansRunning']
+        else:
+            self.percentage_walker_running = 0.0
+        if 'PercentagePedestriansCrossing' in config_data['Behaviors']['Simulation']:
+            self.percentage_walker_crossing = config_data['Behaviors']['Simulation']['PercentagePedestriansCrossing']
+        else:
+            self.percentage_walker_crossing = 0.0
 
         if self.robot_type == 'f1rl':
             self.action_set = robot['Parameters']['action_set']

behavior_metrics/utils/controller_carla.py

@@ -26,13 +26,11 @@
 import rosbag
 import json
 import math
-
 from utils.logger import logger
 try:
     import carla
 except ModuleNotFoundError as ex:
     logger.error('CARLA is not supported')
-
 from std_srvs.srv import Empty
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
@@ -45,7 +43,6 @@
 except ModuleNotFoundError as ex:
     logger.error('CARLA is not supported')
 from PIL import Image
-
 __author__ = 'sergiopaniego'
 __contributors__ = []
 __license__ = 'GPLv3'