popgri/race

Repository for the GRAIC synthesis competition

race's Issues

Ability to install without Docker

As a competitor, I would like to be able to install and use the software without having a cloud account or pulling a Docker image. Currently, the documentation only has instructions for an accounts with AWS or Docker.

This will allow me to build and use the software without unnecessary dependencies or expenses. It may also allow running the software without root privileges, which is something that Docker requires according to your installation documentation.

This is also a step toward automated build testing for each change that is made to Race.

Driver Loading Issue

I am having a bug when trying to run the GRAIC Docker Container (step 2 on website). Whenever I run it, I receive an error that the driver is not loaded. In Software and Updates, I have made sure that I am using the NVIDIA Driver. CARLA works on its own when not in the docker container but when running the docker command, I receive the issue. I have followed the steps shown to install Docker CE, NVIDIA-Docker 2, as well as the latest source code / map and tried running the command with sudo.

carla_ros_bridge-2 dies when launching baseline (AttributeError: 'CarlaRosBridge' object has no attribute 'sync_mode)

Describe the bug
I am not able to run the baseline solution with the docker container. When doing the roslaunch command, I receive the error

carla@elew-workstation:~/graic-workspace$ roslaunch race carla_single.launch num_wheels:=4 model_type:=model_free
... logging to /home/carla/.ros/log/0b97d7f8-73d5-11ec-8aec-28dfeb5ccd62/roslaunch-elew-workstation-976.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://elew-workstation:36381/

SUMMARY
========

PARAMETERS
 * /carla_ros_bridge/ego_vehicle_role_name: ["hero", "ego_veh...
 * /carla_ros_bridge/fixed_delta_seconds: 
 * /carla_ros_bridge/host: localhost
 * /carla_ros_bridge/passive: False
 * /carla_ros_bridge/port: 2000
 * /carla_ros_bridge/synchronous_mode: 
 * /carla_ros_bridge/synchronous_mode_wait_for_vehicle_control_command: 
 * /carla_ros_bridge/timeout: 10
 * /carla_ros_bridge/town: t1_triple
 * /race_run/N: 1
 * /race_run/log: /tmp/
 * /race_run/model_type: model_free
 * /race_run/num_wheels: 4
 * /race_run/track: t1_triple
 * /rosdistro: noetic
 * /rosversion: 1.15.9
 * /use_sim_time: True

NODES
  /
    carla_ros_bridge (carla_ros_bridge/bridge.py)
    race_run (race/run.py)
    spawn_npc (race/spawn_npc.py)

auto-starting new master
process[master]: started with pid [984]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0b97d7f8-73d5-11ec-8aec-28dfeb5ccd62
process[rosout-1]: started with pid [994]
started core service [/rosout]
process[carla_ros_bridge-2]: started with pid [1001]
process[race_run-3]: started with pid [1002]
process[spawn_npc-4]: started with pid [1003]
[INFO] [1642011941.685030, 0.000000]: Trying to connect to localhost:2000
[INFO] [1642011942.009282, 0.000000]: Loading town 't1_triple' (previous: 'Town03').
WARNING: cannot parse georeference: ''. Using default values. 
WARNING: cannot parse georeference: ''. Using default values. 
[INFO] [1642011944.015371, 0.000000]: synchronous_mode: 
Traceback (most recent call last):
  File "/home/carla/carla-ros-bridge/catkin_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/bridge.py", line 485, in <module>
    main()
  File "/home/carla/carla-ros-bridge/catkin_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/bridge.py", line 468, in main
    carla_bridge.initialize_bridge(carla_client.get_world(), parameters)
  File "/home/carla/carla-ros-bridge/catkin_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/bridge.py", line 114, in initialize_bridge
    self.carla_settings.synchronous_mode = self.parameters["synchronous_mode"]
Boost.Python.ArgumentError: Python argument types in
    None.None(WorldSettings, str)
did not match C++ signature:
    None(carla::rpc::EpisodeSettings {lvalue}, bool)
[INFO] [1642011944.080798, 0.000000]: Shutting down...
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/core.py", line 572, in signal_shutdown
    h()
  File "/home/carla/carla-ros-bridge/catkin_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/bridge.py", line 374, in destroy
    if not self.sync_mode:
AttributeError: 'CarlaRosBridge' object has no attribute 'sync_mode'
ERROR: Spawn failed because of collision at spawn position
ERROR: Spawn failed because of collision at spawn position
ERROR: Spawn failed because of collision at spawn position
ERROR: Spawn failed because of collision at spawn position
ERROR: Spawn failed because of collision at spawn position
ERROR: Spawn failed because of collision at spawn position
================================================================================REQUIRED process [carla_ros_bridge-2] has died!
process has died [pid 1001, exit code 1, cmd /home/carla/carla-ros-bridge/catkin_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/bridge.py __name:=carla_ros_bridge __log:=/home/carla/.ros/log/0b97d7f8-73d5-11ec-8aec-28dfeb5ccd62/carla_ros_bridge-2.log].
log file: /home/carla/.ros/log/0b97d7f8-73d5-11ec-8aec-28dfeb5ccd62/carla_ros_bridge-2*.log
Initiating shutdown!
================================================================================
[spawn_npc-4] killing on exit
[race_run-3] killing on exit
[carla_ros_bridge-2] killing on exit

To Reproduce
The main README.md instructions up until roslaunch race carla_single.launch num_wheels:=4 model_type:=model_free.

Expected behavior
A vehicle should appear in the CARLA window.

Screenshots

Related Context (please complete the following information):

• GRAIC Version latest in docker--GRAIC 0.1.0
• Map Version t1_triple
• Car Model model_free

Architecture diagram missing

As a potential competitor, I would like to see an architecture diagram so I can understand how all of the components fit together. This will help competitors understand what code it is it that they need to write, what will be calling my code, and aid in troubleshooting in the event there are any errors (either with the competitor's code or with Race itself).