Initial version

.github/workflows/docker.yml

@@ -0,0 +1,59 @@
+name: Docker
+
+on: [push, pull_request]
+
+jobs:
+
+  clean-up:
+    name: Clean up
+    runs-on: ubuntu-latest
+    steps:
+
+      - name: Clean up
+        run: rm -rf *
+
+  create-image:
+    name: Create docker image
+    runs-on: ubuntu-latest
+    needs: clean-up
+    env: 
+      IMAGE_TAG_SUFFIX: ""
+    steps:
+
+      - uses: actions/checkout@v4
+        name: Checkout repository
+        with: 
+          path: carla-scenario-runner
+          submodules: true
+
+      - uses: docker/login-action@v3
+        name: Login to Docker Hub
+        with:
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_PASSWORD }}
+
+      - uses: robinraju/[email protected]
+        name: Download PythonAPI
+        with:
+          repository: carla-compose/carla-simulator
+          latest: true
+          fileName: PythonAPI.tar.gz
+          extract: true          
+          out-file-path: .
+
+      - name: Remove PythonAPI.tar.gz
+        run: rm PythonAPI.tar.gz
+
+      - name: Set image tag
+        run: |
+          echo "IMAGE_TAG_SUFFIX=_$(echo '${{ github.ref_name }}' | tr / -)_ci" >> $GITHUB_ENV
+        if: github.ref_name != github.event.repository.default_branch
+
+      - uses: docker/build-push-action@v5
+        name: Build and push
+        with:
+          push: true
+          file: carla-scenario-runner/docker/Dockerfile
+          tags: rwthika/carla-scenario-runner:latest${{env.IMAGE_TAG_SUFFIX}}
+          no-cache: true
+          context: .

CARLA_VER

@@ -1,2 +1,2 @@
 HOST = https://carla-releases.s3.eu-west-3.amazonaws.com/Linux
-RELEASE=CARLA_0.9.13
+RELEASE=CARLA_0.9.15

CARLOS_CHANGELOG.md

@@ -0,0 +1,13 @@
+## Latest : 1.0.0
+
+## 1.0.0 - Initial Release
+
+### Major changes
+
+*   Created GitHub workflow and Dockerfile to automatically build Docker images
+*   Update to [CARLA 0.9.15](https://carla.org/2023/11/10/release-0.9.15/)
+*   Update to Ubuntu 22.04 and Python 3.10 including corresponding pip versions
+
+### Minor changes
+
+*   Small fix related to CARLA autopilot

README.md

@@ -1,9 +1,35 @@
+# Control Actor: *carla-scenario-runner*
+
+<p align="left">
+  <img src="https://img.shields.io/github/v/release/ika-rwth-aachen/carla-scenario-runner"/>
+  <img src="https://img.shields.io/github/license/ika-rwth-aachen/carla-scenario-runner"/>
+  <a href="https://github.com/ika-rwth-aachen/carla-scenario-runner/actions/workflows/docker.yml">
+  <img src="https://github.com/ika-rwth-aachen/carla-scenario-runner/actions/workflows/docker.yml/badge.svg"/></a>
+  <img src="https://img.shields.io/badge/Ubuntu-22.04-E95420"/>
+  <img src="https://img.shields.io/badge/CARLA-0.9.15-blueviolet"/>
+  <img src="https://img.shields.io/badge/Python-3.10-blueviolet"/>
+  <img src="https://img.shields.io/github/stars/ika-rwth-aachen/carla-scenario-runner?style=social"/>
+</p>
+
+> [!IMPORTANT]
+> This repository is a minimal fork of the official [scenario_runner](https://github.com/carla-simulator/scenario_runner)! All initial and following modifications to the original repository are documented in [CARLOS_CHANGELOG.md](./CARLOS_CHANGELOG.md).
+
+> [!TIP]
+> We recommend to use the *carla-scenario-runner* as **control actor** in our open, modular and scalable simulation framework <a href="https://github.com/ika-rwth-aachen/carlos">**CARLOS**. <img src="https://img.shields.io/github/stars/ika-rwth-aachen/carlos?style=social"/></a> 
+>
+> The *carla-scenario-runner* is used to enable scenario-based testing and evaluation. It is a powerful engine that follows the OpenSCENARIO standard for scenario definitions.
+
+> [!NOTE]
+> We set up a Continous Integration (CI) pipeline as [GitHub workflow](./github/workflows/docker.yml) to continously build Docker images for the `carla-scenario-runner`, publicly available on [Docker Hub](https://hub.docker.com/r/rwthika/carla-scenario-runner).
+
+---
+---
+## Original README
+
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 ![GitHub tag (latest SemVer)](https://img.shields.io/github/tag/carla-simulator/scenario_runner.svg)
 [![Build Status](https://travis-ci.com/carla-simulator/scenario_runner.svg?branch=master)](https://travis-ci.com/carla/scenario_runner)
 
-ScenarioRunner for CARLA
-========================
 This repository contains traffic scenario definition and an execution engine
 for CARLA. It also allows the execution of a simulation of the CARLA Challenge.
 You can use this system to prepare your agent for the CARLA Challenge.

docker/Dockerfile

@@ -0,0 +1,62 @@
+ARG UBUNTU_VERSION="22.04"
+
+
+############ dependencies ############
+FROM "ubuntu:${UBUNTU_VERSION}"
+
+USER root
+SHELL ["/bin/bash", "-c"]
+
+ARG CARLA_API_PATH=/opt/carla/PythonAPI
+ARG SCENARIO_RUNNER_PATH=/opt/carla/carla-scenario-runner
+
+# Install essentials
+RUN apt-get update && \
+    apt-get install -y \
+      libpng16-16 \
+      libtiff5 \
+      libjpeg8 \
+      build-essential \
+      wget \
+      git \
+      libxerces-c-dev \
+      python3-pip \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN pip3 install --upgrade pip
+RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 10
+
+# Install carla-scenario-runner
+COPY ./carla-scenario-runner $SCENARIO_RUNNER_PATH
+RUN pip3 install -r $SCENARIO_RUNNER_PATH/requirements.txt
+
+# Move over PythonAPI
+COPY ./artifacts/PythonAPI ${CARLA_API_PATH}
+
+# Recursively install PythonAPI requirements, keep version of first occurrence
+RUN cat $(find ${CARLA_API_PATH} -type f -name "requirements.txt") > /tmp/requirements_raw.txt \
+    && awk -F '==' '{print $1}' /tmp/requirements_raw.txt | awk '!visited[$1]++' > /tmp/requirements.txt \
+    && pip3 install -r /tmp/requirements.txt
+
+# Create script that adds API to pythonpath and make .bashrc source it
+RUN echo "export PYTHONPATH=\$PYTHONPATH:$CARLA_API_PATH/carla/dist/$(ls $CARLA_API_PATH/carla/dist | grep py$(python --version | awk -F'[ .]' '{print $2"."$3}').)" >> /setup_carla_env.sh; \
+    echo "export PYTHONPATH=\$PYTHONPATH:$CARLA_API_PATH/carla/agents" >> /setup_carla_env.sh; \
+    echo "export PYTHONPATH=\$PYTHONPATH:$CARLA_API_PATH/carla" >> /setup_carla_env.sh; \
+    echo "export CARLA_API_PATH=$CARLA_API_PATH" >> /setup_carla_env.sh; \
+    echo "source /setup_carla_env.sh" >> ~/.bashrc
+
+# Needed for (pygame based) scripts that have a GUI
+ENV SDL_VIDEODRIVER=x11
+
+USER root
+SHELL ["/bin/bash", "-c"]
+
+ARG WORKSPACE=${SCENARIO_RUNNER_PATH}
+ENV WORKSPACE=${WORKSPACE}
+WORKDIR ${WORKSPACE}
+
+# Set entrypoint
+COPY ./carla-scenario-runner/docker/entrypoint.sh /
+ENTRYPOINT [ "/entrypoint.sh" ]
+
+CMD [ "python3", "scenario_runner.py", "--help" ]

docker/entrypoint.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+set -e
+
+# source CARLA environment setup script
+source /setup_carla_env.sh
+
+# run the actual command
+exec "$@"

requirements.txt

@@ -1,14 +1,15 @@
-py-trees==0.8.3
-numpy==1.18.4; python_version >= '3.0'
-networkx==2.2
-Shapely==1.7.1
-psutil
-xmlschema==1.0.18
-ephem
-tabulate
-opencv-python==4.2.0.32
-matplotlib
-six
-simple-watchdog-timer
-antlr4-python3-runtime==4.10
-graphviz
+# Update all versions to be compatible with Ubuntu 22.04, Python 3.10.6, ROS Humble (at 2023-07-24)
+py-trees==0.8.3                 # newest version (2.2.3) is not compatible
+numpy==1.21.5       
+networkx==3.1               
+shapely==2.0.1                 
+psutil==5.9.0                 
+xmlschema==2.3.1                
+ephem==4.1.4
+tabulate==0.9.0
+opencv-python==4.8.0.74        
+matplotlib==3.7.2           
+six==1.16.0
+simple-watchdog-timer==0.1.1
+antlr4-python3-runtime==4.13.1
+graphviz==0.20.1

scenario_runner.py

@@ -44,7 +44,7 @@
 from srunner.scenarioconfigs.osc2_scenario_configuration import OSC2ScenarioConfiguration
 
 # Version of scenario_runner
-VERSION = '0.9.13'
+VERSION = '0.9.15'
 
 
 class ScenarioRunner(object):

srunner/scenariomanager/actorcontrols/actor_control.py

@@ -79,6 +79,7 @@ def __init__(self, actor, control_py_module, args, scenario_file_path):
             if ".py" in control_py_module:
                 module_name = os.path.basename(control_py_module).split('.')[0]
                 sys.path.append(os.path.dirname(control_py_module))
+                sys.path.append(os.path.dirname(__file__))
                 module_control = importlib.import_module(module_name)
                 control_class_name = module_control.__name__.title().replace('_', '')
             else:

srunner/scenariomanager/actorcontrols/carla_autopilot.py

@@ -18,7 +18,7 @@
 from srunner.scenariomanager.actorcontrols.basic_control import BasicControl
 
 
-class CarlaAutoPilotControl(BasicControl):
+class CarlaAutopilot(BasicControl):
 
     """
     Controller class for vehicles derived from BasicControl.
@@ -33,7 +33,7 @@ class CarlaAutoPilotControl(BasicControl):
     """
 
     def __init__(self, actor, args=None):
-        super(CarlaAutoPilotControl, self).__init__(actor)
+        super(CarlaAutopilot, self).__init__(actor)
         self._actor.set_autopilot(enabled=True)
 
     def reset(self):