CARLA 0.10 support

examples/carla/Carla_Challenge/carlaChallenge1.scenic

@@ -6,12 +6,12 @@ its original lane.
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../assets/maps/CARLA/Town01.xodr')
-param carla_map = 'Town01'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 ## CONSTANTS
-EGO_MODEL = "vehicle.lincoln.mkz_2017"
+EGO_MODEL = "vehicle.lincoln.mkz"
 EGO_SPEED = 10
 
 ## DEFINING BEHAVIORS

examples/carla/Carla_Challenge/carlaChallenge10.scenic

@@ -6,12 +6,12 @@ this situation it is assumed that the first to enter the intersection has priori
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 ## CONSTANTS
-EGO_MODEL = "vehicle.lincoln.mkz_2017"
+EGO_MODEL = "vehicle.lincoln.mkz"
 EGO_SPEED = 10
 SAFETY_DISTANCE = 20
 BRAKE_INTENSITY = 1.0

examples/carla/Carla_Challenge/carlaChallenge2.scenic

@@ -6,12 +6,12 @@ emergency brake or an avoidance maneuver.
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../assets/maps/CARLA/Town01.xodr')
-param carla_map = 'Town01'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 ## CONSTANTS
-EGO_MODEL = "vehicle.lincoln.mkz_2017"
+EGO_MODEL = "vehicle.lincoln.mkz"
 EGO_SPEED = 10
 EGO_BRAKING_THRESHOLD = 12
 
@@ -53,5 +53,5 @@ ego = new Car following roadDirection from leadCar for Range(-15, -10),
         with blueprint EGO_MODEL,
         with behavior EgoBehavior(EGO_SPEED)
 
-require (distance to intersection) > 80
+require (distance to intersection) > 50
 terminate when ego.speed < 0.1 and (distance to obstacle) < 30

examples/carla/Carla_Challenge/carlaChallenge3_dynamic.scenic

@@ -6,18 +6,18 @@ emergency brake or an avoidance maneuver.
 """
 
 # SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
-# CONSTANTS
-EGO_MODEL = "vehicle.lincoln.mkz_2017"
-EGO_SPEED = 10
+## CONSTANTS
+EGO_MODEL = "vehicle.lincoln.mkz"
+EGO_SPEED = 6
 SAFETY_DISTANCE = 10
 BRAKE_INTENSITY = 1.0
 
-PEDESTRIAN_MIN_SPEED = 1.0
-THRESHOLD = 20
+PEDESTRIAN_MIN_SPEED = 2.0
+THRESHOLD = 30
 
 # EGO BEHAVIOR: Follow lane and brake when reaches threshold distance to obstacle
 behavior EgoBehavior(speed=10):
@@ -48,10 +48,10 @@ vending_machine = new VendingMachine right of vending_spot by 3,
     with heading -90 deg relative to vending_spot.heading,
     with regionContainedIn None
 
-ego = new Car following roadDirection from spot for Range(-30, -20),
+ego = new Car following roadDirection from spot for Range(-50, -40),
     with blueprint EGO_MODEL,
     with behavior EgoBehavior(EGO_SPEED)
 
-require (distance to intersection) > 75
+require (distance to intersection) > 50
 require (ego.laneSection._slowerLane is None)
-terminate when (distance to spot) > 50
+terminate when (distance to spot) > 30

examples/carla/Carla_Challenge/carlaChallenge3_static.scenic

@@ -6,12 +6,12 @@ emergency brake or an avoidance maneuver.
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../assets/maps/CARLA/Town01.xodr')
-param carla_map = 'Town01'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 ## CONSTANTS
-EGO_MODEL = "vehicle.lincoln.mkz_2017"
+EGO_MODEL = "vehicle.lincoln.mkz"
 EGO_SPEED = 10
 EGO_BRAKING_THRESHOLD = 12
 
@@ -41,5 +41,5 @@ ego = new Car following roadDirection from spawnPt for Range(-50, -30),
     with blueprint EGO_MODEL,
     with behavior EgoBehavior(EGO_SPEED)
 
-require (distance to intersection) > 75
+require (distance to intersection) > 60
 terminate when ego.speed < 0.1 and (distance to obstacle) < 15

examples/carla/Carla_Challenge/carlaChallenge4.scenic

@@ -6,16 +6,16 @@ emergency brake or an avoidance maneuver.
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../assets/maps/CARLA/Town01.xodr')
-param carla_map = 'Town01'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 ## CONSTANTS
-EGO_MODEL = "vehicle.lincoln.mkz_2017"
+EGO_MODEL = "vehicle.lincoln.mkz"
 BICYCLE_MIN_SPEED = 1.5
 THRESHOLD = 18
 BRAKE_ACTION = 1.0
-SAFETY_DISTANCE = 10
+SAFETY_DISTANCE = 17
 
 ## DEFINING BEHAVIORS
 behavior EgoBehavior(trajectory):

examples/carla/Carla_Challenge/carlaChallenge5.scenic

@@ -2,8 +2,8 @@
 Based on 2019 Carla Challenge Traffic Scenario 05.
 Ego-vehicle performs a lane changing to evade a leading vehicle, which is moving too slowly.
 """
-param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 #CONSTANTS

examples/carla/Carla_Challenge/carlaChallenge6.scenic

@@ -4,13 +4,10 @@ Ego-vehicle must go around a blocking object
 using the opposite lane, yielding to oncoming traffic.
 """
 
-# N.B. Town07 is not included with CARLA by default; see installation instructions at
-# https://carla.readthedocs.io/en/latest/start_quickstart/#import-additional-assets
-param map = localPath('../../../assets/maps/CARLA/Town07.xodr')
-param carla_map = 'Town07'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
-
 #CONSTANTS
 ONCOMING_THROTTLE = 0.6
 EGO_SPEED = 7
@@ -78,7 +75,7 @@ oncomingCar = new Car on leftLaneSec.centerline,
 
 ego = new Car at spawnPt,
     with behavior EgoBehavior(leftLaneSec)
-    
+
 blockingCar = new Car following roadDirection from ego for BLOCKING_CAR_DIST,
                 with viewAngle 90 deg
 

examples/carla/Carla_Challenge/carlaChallenge7.scenic

@@ -4,8 +4,8 @@ Ego-vehicle is going straight at an intersection but a crossing vehicle
 runs a red light, forcing the ego-vehicle to perform a collision avoidance maneuver.
 Note: The traffic light control is not implemented yet, but it will soon be. 
 """
-param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 DELAY_TIME_1 = 1 # the delay time for ego
@@ -52,6 +52,3 @@ ego = new Car following roadDirection from ego_spwPt for DISTANCE_TO_INTERSECTIO
 
 crossing_car = new Car following roadDirection from csm_spwPt for DISTANCE_TO_INTERSECTION2,
                 with behavior CrossingCarBehavior(crossing_car_trajectory)
-
-
-"""Note: Traffic light is currently not controlled but this functionality will be added very soon """

examples/carla/Carla_Challenge/carlaChallenge8.scenic

@@ -6,12 +6,12 @@ traffic.
 """
 
 ## SET MAP AND MODEL (i.e. definitions of all referenceable vehicle types, road library, etc)
-param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 ## CONSTANTS
-EGO_MODEL = "vehicle.lincoln.mkz_2017"
+EGO_MODEL = "vehicle.lincoln.mkz"
 EGO_SPEED = 10
 SAFETY_DISTANCE = 20
 BRAKE_INTENSITY = 1.0

examples/carla/Carla_Challenge/carlaChallenge9.scenic

@@ -2,8 +2,8 @@
 Based on 2019 Carla Challenge Traffic Scenario 09.
 Ego-vehicle is performing a right turn at an intersection, yielding to crossing traffic.
 """
-param map = localPath('../../../assets/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
+param map = localPath('../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 DELAY_TIME_1 = 1 # the delay time for ego

src/scenic/domains/driving/simulators.py

@@ -35,37 +35,31 @@ def getLaneFollowingControllers(self, agent):
         """
         dt = self.timestep
         if agent.isCar:
-            lon_controller = PIDLongitudinalController(K_P=0.5, K_D=0.1, K_I=0.7, dt=dt)
-            lat_controller = PIDLateralController(K_P=0.2, K_D=0.1, K_I=0.0, dt=dt)
+            lon_controller = PIDLongitudinalController(K_P=1.0, K_D=0.2, K_I=1.4, dt=dt)
+            lat_controller = PIDLateralController(K_P=1.0, K_D=0.2, K_I=0.0, dt=dt)
         else:
-            lon_controller = PIDLongitudinalController(
-                K_P=0.25, K_D=0.025, K_I=0.0, dt=dt
-            )
-            lat_controller = PIDLateralController(K_P=0.2, K_D=0.1, K_I=0.0, dt=dt)
+            lon_controller = PIDLongitudinalController(K_P=0.5, K_D=0.05, K_I=0.0, dt=dt)
+            lat_controller = PIDLateralController(K_P=1.0, K_D=0.2, K_I=0.0, dt=dt)
         return lon_controller, lat_controller
 
     def getTurningControllers(self, agent):
         """Get longitudinal and lateral controllers for turning."""
         dt = self.timestep
         if agent.isCar:
-            lon_controller = PIDLongitudinalController(K_P=0.5, K_D=0.1, K_I=0.7, dt=dt)
-            lat_controller = PIDLateralController(K_P=0.8, K_D=0.2, K_I=0.0, dt=dt)
+            lon_controller = PIDLongitudinalController(K_P=1.0, K_D=0.2, K_I=1.4, dt=dt)
+            lat_controller = PIDLateralController(K_P=2.0, K_D=0.2, K_I=0.0, dt=dt)
         else:
-            lon_controller = PIDLongitudinalController(
-                K_P=0.25, K_D=0.025, K_I=0.0, dt=dt
-            )
-            lat_controller = PIDLateralController(K_P=0.4, K_D=0.1, K_I=0.0, dt=dt)
+            lon_controller = PIDLongitudinalController(K_P=0.5, K_D=0.05, K_I=0.0, dt=dt)
+            lat_controller = PIDLateralController(K_P=2.0, K_D=0.2, K_I=0.0, dt=dt)
         return lon_controller, lat_controller
 
     def getLaneChangingControllers(self, agent):
         """Get longitudinal and lateral controllers for lane changing."""
         dt = self.timestep
         if agent.isCar:
-            lon_controller = PIDLongitudinalController(K_P=0.5, K_D=0.1, K_I=0.7, dt=dt)
+            lon_controller = PIDLongitudinalController(K_P=1.0, K_D=0.2, K_I=1.4, dt=dt)
             lat_controller = PIDLateralController(K_P=0.08, K_D=0.3, K_I=0.0, dt=dt)
         else:
-            lon_controller = PIDLongitudinalController(
-                K_P=0.25, K_D=0.025, K_I=0.0, dt=dt
-            )
+            lon_controller = PIDLongitudinalController(K_P=0.5, K_D=0.05, K_I=0.0, dt=dt)
             lat_controller = PIDLateralController(K_P=0.1, K_D=0.3, K_I=0.0, dt=dt)
         return lon_controller, lat_controller

src/scenic/simulators/carla/blueprints.py

@@ -15,24 +15,23 @@
 
 #: blueprints for cars
 carModels = [
-    "vehicle.audi.a2",
-    "vehicle.audi.etron",
-    "vehicle.audi.tt",
-    "vehicle.bmw.grandtourer",
-    "vehicle.chevrolet.impala",
-    "vehicle.citroen.c3",
-    "vehicle.dodge.charger_police",
-    "vehicle.jeep.wrangler_rubicon",
-    "vehicle.lincoln.mkz_2017",
-    "vehicle.mercedes.coupe",
-    "vehicle.mini.cooper_s",
-    "vehicle.ford.mustang",
-    "vehicle.nissan.micra",
-    "vehicle.nissan.patrol",
-    "vehicle.seat.leon",
-    "vehicle.tesla.model3",
-    "vehicle.toyota.prius",
-    "vehicle.volkswagen.t2",
+    'vehicle.taxi.ford',
+    'vehicle.dodgecop.charger',
+    'vehicle.fuso.mitsubishi',
+    'vehicle.carlacola.actros',
+    'vehicle.ue4.chevrolet.impala',
+    'vehicle.ue4.ford.mustang',
+    'vehicle.ue4.mercedes.ccc',
+    'vehicle.firetruck.actros',
+    'vehicle.ue4.bmw.grantourer',
+    'vehicle.ue4.ford.crown',
+    'vehicle.ue4.audi.tt',
+    'vehicle.dodge.charger',
+    'vehicle.sprinter.mercedes',
+    'vehicle.ambulance.ford',
+    'vehicle.nissan.patrol',
+    'vehicle.mini.cooper',
+    'vehicle.lincoln.mkz'
 ]
 
 #: blueprints for bicycles
@@ -59,12 +58,7 @@
 
 #: blueprints for trash cans
 trashModels = [
-    "static.prop.trashcan01",
-    "static.prop.trashcan02",
-    "static.prop.trashcan03",
-    "static.prop.trashcan04",
-    "static.prop.trashcan05",
-    "static.prop.bin",
+    "static.prop.dumpster",
 ]
 
 #: blueprints for traffic cones

src/scenic/simulators/carla/simulator.py

@@ -154,7 +154,7 @@ def setup(self):
             self.cameraManager = visuals.CameraManager(self.world, egoActor, self.hud)
             self.cameraManager._transform_index = camPosIndex
             self.cameraManager.set_sensor(camIndex)
-            self.cameraManager.set_transform(self.camTransform)
+            # self.cameraManager.set_transform(self.camTransform)
 
         self.world.tick()  ## allowing manualgearshift to take effect    # TODO still need this?