intellabs/scenario_execution

Scenario Execution for Robotics

Scenario Execution

Scenario execution is a backend- and middleware-agnostic library written in Python based on the generic scenario description language OpenSCENARIO 2 and pytrees. It reads a scenario definition from a file and then executes it, reusing available checks and actions. It is easily extendable through a library mechanism. This separation of the scenario definition from implementation massively reduces the manual efforts of scenario creation.

To give an impression of the functionality of scenario execution, the following animation shows an example scenario with a turtlebot-like robot in simulation using Nav2 and ROS as middleware to navigate towards a specified navigation goal in a simulated warehouse environment. Once the robot reaches a reference position a box is spawned in front of the robot as an unmapped static obstacle that needs to be avoided. Upon arrival of the goal position, the scenario ends and the simulation gets cleaned up.

Documentation

Please find the documentation here.

Setup

Installation from source as ROS 2 workspace

Clone this repository, update its submodules by running:

git submodule update --init

install the necessary dependencies:

rosdep install  --from-paths . --ignore-src
pip3 install -r requirements.txt

and build it

colcon build

How to run

First, build the packages:

colcon build
source install/setup.bash

To launch a scenario with ROS2:

ros2 launch scenario_execution_ros scenario_launch.py scenario:=examples/example_scenario/hello_world.osc live_tree:=True

scenario_execution's Issues

make scenario_variation and scenario_batch_execution executable

Is your feature request related to a problem? Please describe.
Scripts scenario_variation and scenario_batch_execution inside scenario_coverage package needs ros2 and python prefix to run respectively.

Describe the solution you'd like
Both the scripts could be stand alone executables to run directly from command line.

Describe alternatives you've considered
A clear and concise description of any alternative solutions or features you've considered.

Additional context
Add any other context or screenshots about the feature request here.

scenario_batch_execution: write test results if execution gets aborted

Describe the bug
If scenario_batch_execution gets canceled (e.g. in CI) no test.xml gets created.

Expected behavior
test.xml should be created and contain test aborted info.

colcon build --symlink-install broken

Running colcon build --symlink-installfails.

FileNotFoundError: [Errno 2] No such file or directory: '/<path>/build/scenario_execution/README.md

Support dev container usage

• add scripts/dockerfile
• Document:
  • how to build dev container
  • how to use dev container

Navigation action does not stop properly with scenario_execution_control

Describe the bug
When controlling AMR navigation scenarios with scenario_execution_control via rviz and the user stops the scenario during execution of a navigation action, it is not properly stopped, but the robot continues to navigate to its goal although the scenario was already stopped. Hence, the cleanup function of the nav_to_pose action is not properly called in this case. The problem seems to be related to Threading in the scenario_runner.

To Reproduce
Run the scenario control example according to the corresponding tutorial and stop the scenario while the robot is navigating towards a goal.

Expected behavior
The robot should stop its current navigation mission immediately after the scenario is stopped from rviz.

Screenshots

Version information:

• OS: Ubuntu 22.04
• Version 1.0.0
• ROS version: humble

run_external_process not usable from osc file

Describe the bug
Trying to use run_external_process() from a osc file fails
as it is said to be used in the helpers.osc as a string

To Reproduce
in a osc file use:
serial:
run_external_process() with:
keep(it.command == "ros2 run x y")

Expected behavior
an external command should be started successfully

Screenshots
If applicable, add screenshots to help explain your problem.

Version information (please complete the following information):

• OS: [e.g. Ubuntu 22.04]
• Version [e.g. 1.0.0]
• ROS version: [e.g. humble]

Additional context
Add any other context about the problem here.

False text.xml output

If the scenario is not successful or is not executed properly, the generated test.xml file is sometimes incorrect and only contains testsuite tags.

Version information (please complete the following information):

• OS: Ubuntu 22.04
• ROS version: humble

Support ROS iron

• enable iron tests in CI

Slow Parsing when using many imports.

Describe the bug
When using library imports, parsing get significantly slower.

To Reproduce
Use scenario with many large scenario library imports.

Expected behavior
Parsing finished within 2-3s.

Create release in rosdistro

Make scenario_execution available in ros debian repositories.

Starting point: https://github.com/IntelLabs/scenario_execution/tree/update_py_trees_dependency

TODOs

• py_trees_ros release available with splintered-reality/py_trees_ros#220
• get rid of git submodules

Release to conda-forge

pixi tool can help developers quickly build ROS2 development environments

this tool package can find in conda-forge

log_check excpected message printed in rosout

Describe the bug
when using log_check to find a message in rosout, scenario_execution will print out
an instantiate action message containing the message that needs to be found in rosout

To Reproduce
use log_check in osc file and echo the rosout topic

Expected behavior
i think that the log_check should also look at the name field from rosout instead of just msg.msg

Screenshots
If applicable, add screenshots to help explain your problem.

Version information (please complete the following information):

• OS: [e.g. Ubuntu 22.04]
• Version [e.g. 1.0.0]
• ROS version: [e.g. humble]

Additional context
Add any other context about the problem here.

create pip package of scenario_execution_base

Is your feature request related to a problem? Please describe.

Currently, we only offer how to run tutorials of scenario execution with ROS2. To support running scenario execution as standalone python library (without ROS 2), scenario_execution_base should be available as pip package in PyPi.

Describe the solution you'd like

Make scenario_execution_base available as pip package in PyPi and add corresponding section to the how to run page of the documentation.