Support CARLA 0.10.0 (UE5)

.github/workflows/run-simulators.yml

@@ -144,10 +144,19 @@ jobs:
             ssh -o StrictHostKeyChecking=no -o ServerAliveInterval=60 -o ServerAliveCountMax=3 -i private_key ${USER_NAME}@${HOSTNAME} '
               cd /home/ubuntu/actions/Scenic &&
               source venv/bin/activate &&
-              carla_versions=($(find /software -maxdepth 1 -type d -name 'carla*')) &&
+              # run carla0.9.15 first
+              carla_versions=($(find /software -maxdepth 1 -type d -name 'carla*' | sort -V)) &&
               for version in "${carla_versions[@]}"; do
                 echo "============================= CARLA $version ============================="
                 export CARLA_ROOT="$version"
+
+                # install local wheel for carla0.10.0
+                if [[ "$version" == "/software/carla0.10.0" ]]; then
+                  WHL=$(ls "$version"/PythonAPI/carla/dist/carla-0.10.0-cp310-cp310-linux_x86_64.whl)
+                  echo "Installing local wheel: $WHL"
+                  python3 -m pip install --force-reinstall "$WHL"
+                fi
+
                 pytest tests/simulators/carla
               done
             '

docs/simulators.rst

@@ -57,14 +57,23 @@ Our interface to the `CARLA <https://carla.org/>`_ simulator enables using Sceni
 The interface supports dynamic scenarios written using the CARLA world model (:obj:`scenic.simulators.carla.model`) as well as scenarios using the cross-platform :ref:`driving_domain`.
 To use the interface, please follow these instructions:
 
-1. Install the latest version of CARLA (we've tested versions 0.9.9 through 0.9.14) from the `CARLA Release Page <https://github.com/carla-simulator/carla/releases>`_.
-   Note that CARLA currently only supports Linux and Windows.
+1. Install the latest version of CARLA (we've tested versions 0.9.9 through 0.10.0) from the `CARLA Release Page <https://github.com/carla-simulator/carla/releases>`_.
+   Note that CARLA currently only supports Linux and Windows. If you plan to use **0.10.0**, double-check its higher system requirements in the `CARLA UE5 quick-start guide <https://carla-ue5.readthedocs.io/en/latest/start_quickstart/>`_.
 2. Install Scenic in your Python virtual environment as instructed in :ref:`quickstart`.
 3. Within the same virtual environment, install CARLA's Python API.
    How to do this depends on the CARLA version and whether you built it from source:
 
 	.. tabs::
 
+		.. tab:: 0.10.0
+
+			If you're using **CARLA 0.10.0** (not yet on PyPI), install the client wheel that ships with the simulator:
+
+			.. code-block:: text
+
+				cd CARLA_ROOT/PythonAPI/dist/
+                                python3 -m pip install carla-*.*.*-cp3*-linux_x86_64.whl
+
 		.. tab:: 0.9.12+
 
 			Run the following command, replacing ``X.Y.Z`` with the version of CARLA you installed:
@@ -99,9 +108,16 @@ To use the interface, please follow these instructions:
 You can check that the ``carla`` package was correctly installed by running :command:`python -c 'import carla'`: if it prints ``No module named 'carla'``, the installation didn't work.
 We suggest upgrading to a newer version of CARLA so that you can use :command:`pip` to install the Python API.
 
-To start CARLA, run the command :command:`./CarlaUE4.sh` in your CARLA folder.
+To start CARLA, run the command :command:`./CarlaUE4.sh` in your CARLA folder (for **CARLA 0.10.0**, use :command:`./CarlaUnreal.sh` instead).
 Once CARLA is running, you can run dynamic Scenic scenarios following the instructions in :ref:`the dynamics tutorial <dynamics_running_examples>`.
 
+.. note:: CARLA 0.10.0 compatibility
+
+   - All ``examples/carla`` scenarios now support both CARLA 0.9.x and 0.10.0.  
+   - Only the **Town10HD_Opt** map is available in 0.10.0.  
+   - The 0.10.0 blueprint library is different (for example, bicycle blueprints are currently unavailable).
+   - There are some differences in physics in 0.10.0 (for example, pedestrians movement is slower). 
+
 
 Grand Theft Auto V
 ------------------

examples/carla/Carla_Challenge/carlaChallenge1.scenic

@@ -9,12 +9,12 @@ To run this file using the Carla simulator:
 """
 
 ## 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.nissan.patrol"
 EGO_SPEED = 10
 
 ## DEFINING BEHAVIORS

examples/carla/Carla_Challenge/carlaChallenge10.scenic

@@ -9,12 +9,12 @@ To run this file using the Carla simulator:
 """
 
 ## 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.nissan.patrol"
 EGO_SPEED = 10
 SAFETY_DISTANCE = 20
 BRAKE_INTENSITY = 1.0
@@ -36,6 +36,9 @@ behavior EgoBehavior(speed, trajectory):
 
 fourWayIntersection = filter(lambda i: i.is4Way and not i.isSignalized, network.intersections)
 
+if not fourWayIntersection:
+    raise RuntimeError("This map doesn't have any four-way unsignalized intersections.")
+
 # make sure to put '*' to uniformly randomly select from all elements of the list
 intersec = Uniform(*fourWayIntersection)
 ego_start_lane = Uniform(*intersec.incomingLanes)

examples/carla/Carla_Challenge/carlaChallenge2.scenic

@@ -9,12 +9,12 @@ To run this file using the Carla simulator:
 """
 
 ## 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.nissan.patrol"
 EGO_SPEED = 10
 EGO_BRAKING_THRESHOLD = 12
 
@@ -34,7 +34,7 @@ behavior EgoBehavior(speed=10):
 
 # LEAD CAR BEHAVIOR: Follow lane, and brake after passing a threshold distance to obstacle
 behavior LeadingCarBehavior(speed=10):
-    try: 
+    try:
         do FollowLaneBehavior(speed)
 
     interrupt when withinDistanceToAnyObjs(self, LEADCAR_BRAKING_THRESHOLD):
@@ -56,5 +56,5 @@ 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

@@ -9,12 +9,12 @@ To run this file using the Carla simulator:
 """
 
 # 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.nissan.patrol"
 EGO_SPEED = 10
 SAFETY_DISTANCE = 10
 BRAKE_INTENSITY = 1.0
@@ -36,8 +36,15 @@ behavior PedestrianBehavior(min_speed=1, threshold=10):
 # Please refer to scenic/domains/driving/roads.py how to access detailed road infrastructure
 # 'network' is the 'class Network' object in roads.py 
 
-# make sure to put '*' to uniformly randomly select from all elements of the list, 'network.lanes'
-lane = Uniform(*network.lanes)
+# collect all the curb-side lanes
+curbLanes = [
+  lg.lanes[0]
+  for lg in network.laneGroups
+  if lg is lg.road.forwardLanes
+]
+
+# make sure to put '*' to uniformly randomly select from all elements of the list
+lane = Uniform(*curbLanes)
 
 spot = new OrientedPoint on lane.centerline
 vending_spot = new OrientedPoint following roadDirection from spot for -3
@@ -55,6 +62,6 @@ ego = new Car following roadDirection from spot for Range(-30, -20),
     with blueprint EGO_MODEL,
     with behavior EgoBehavior(EGO_SPEED)
 
-require (distance to intersection) > 75
+require (distance to intersection) > 40
 require (ego.laneSection._slowerLane is None)
-terminate when (distance to spot) > 50
+terminate when (distance to spot) > 50

examples/carla/Carla_Challenge/carlaChallenge3_static.scenic

@@ -9,12 +9,12 @@ To run this file using the Carla simulator:
 """
 
 ## 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.nissan.patrol"
 EGO_SPEED = 10
 EGO_BRAKING_THRESHOLD = 12
 

examples/carla/Carla_Challenge/carlaChallenge4.scenic

@@ -9,12 +9,12 @@ To run this file using the Carla simulator:
 """
 
 ## 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.nissan.patrol"
 BICYCLE_MIN_SPEED = 1.5
 THRESHOLD = 18
 BRAKE_ACTION = 1.0

examples/carla/Carla_Challenge/carlaChallenge5.scenic

@@ -5,8 +5,8 @@ Ego-vehicle performs a lane changing to evade a leading vehicle, which is moving
 To run this file using the Carla simulator:
     scenic examples/carla/Carla_Challenge/carlaChallenge5.scenic --2d --model scenic.simulators.carla.model --simulate
 """
-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
@@ -19,7 +19,7 @@ DIST_THRESHOLD = 15
 behavior EgoBehavior(leftpath, origpath=[]):
     laneChangeCompleted = False
 
-    try: 
+    try:
         do FollowLaneBehavior(EGO_SPEED)
 
     interrupt when withinDistanceToAnyObjs(self, DIST_THRESHOLD) and not laneChangeCompleted:
@@ -53,4 +53,4 @@ cyclist = new Car following roadDirection from ego for EGO_TO_BICYCLE,
     with behavior SlowCarBehavior()
 
 require (distance from ego to intersection) > 10
-require (distance from cyclist to intersection) > 10
+require (distance from cyclist to intersection) > 10

examples/carla/Carla_Challenge/carlaChallenge6.scenic

@@ -9,8 +9,8 @@ To run this file using the Carla simulator:
 
 # 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
 
 
@@ -81,11 +81,11 @@ 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
 
 #Make sure the oncoming Car is at a visible section of the lane
 require blockingCar can see oncomingCar
 require (distance from blockingCar to oncomingCar) < DIST_BTW_BLOCKING_ONCOMING_CARS
-require (distance from blockingCar to intersection) > DIST_TO_INTERSECTION
+require (distance from blockingCar to intersection) > DIST_TO_INTERSECTION

examples/carla/Carla_Challenge/carlaChallenge7.scenic

@@ -1,14 +1,14 @@
 """ Scenario Description
 Based on 2019 Carla Challenge Traffic Scenario 07.
-Ego-vehicle is going straight at an intersection but a crossing vehicle 
+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. 
+Note: The traffic light control is not implemented yet, but it will soon be.
 
 To run this file using the Carla simulator:
     scenic examples/carla/Carla_Challenge/carlaChallenge7.scenic --2d --model scenic.simulators.carla.model --simulate
 """
-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
@@ -26,7 +26,7 @@ behavior CrossingCarBehavior(trajectory):
         do FollowTrajectoryBehavior(trajectory = trajectory)
 
 behavior EgoBehavior(trajectory):
-    
+
     try:
         do FollowTrajectoryBehavior(trajectory=trajectory)
     interrupt when withinDistanceToAnyObjs(self, SAFETY_DISTANCE):
@@ -57,4 +57,4 @@ crossing_car = new Car following roadDirection from csm_spwPt for DISTANCE_TO_IN
                 with behavior CrossingCarBehavior(crossing_car_trajectory)
 
 
-"""Note: Traffic light is currently not controlled but this functionality will be added very soon """
+"""Note: Traffic light is currently not controlled but this functionality will be added very soon """

examples/carla/Carla_Challenge/carlaChallenge8.scenic

@@ -9,12 +9,12 @@ To run this file using the Carla simulator:
 """
 
 ## 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.nissan.patrol"
 EGO_SPEED = 10
 SAFETY_DISTANCE = 20
 BRAKE_INTENSITY = 1.0
@@ -78,7 +78,6 @@ ego = new Car at ego_spawn_pt,
 adversary = new Car at adv_spawn_pt,
     with behavior AdversaryBehavior(adv_trajectory)
 
-require (ego_start_section.laneToLeft == adv_end_section)  # make sure the ego and adversary are spawned in opposite lanes
-require 25 <= (distance to intersec) <= 30
+require 10 <= (distance to intersec) <= 30
 require 15 <= (distance from adversary to intersec) <= 20
 terminate when (distance to ego_spawn_pt) > 70

examples/carla/Carla_Challenge/carlaChallenge9.scenic

@@ -5,8 +5,8 @@ Ego-vehicle is performing a right turn at an intersection, yielding to crossing
 To run this file using the Carla simulator:
     scenic examples/carla/Carla_Challenge/carlaChallenge9.scenic --2d --model scenic.simulators.carla.model --simulate
 """
-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

examples/carla/NHTSA_Scenarios/bypassing/bypassing_01.scenic

@@ -1,7 +1,7 @@
 """
 TITLE: Bypassing 01
 AUTHOR: Francis Indaheng, findaheng@berkeley.edu
-DESCRIPTION: Ego vehicle performs a lane change to bypass a slow 
+DESCRIPTION: Ego vehicle performs a lane change to bypass a slow
 adversary vehicle before returning to its original lane.
 SOURCE: NHSTA, #16
 
@@ -13,22 +13,22 @@ To run this file using the Carla simulator:
 # MAP AND MODEL                 #
 #################################
 
-param map = localPath('../../../../assets/maps/CARLA/Town03.xodr')
-param carla_map = 'Town03'
+param map = localPath('../../../../assets/maps/CARLA/Town10HD_Opt.xodr')
+param carla_map = 'Town10HD_Opt'
 model scenic.simulators.carla.model
 
 #################################
 # CONSTANTS                     #
 #################################
 
-MODEL = 'vehicle.lincoln.mkz_2017'
+MODEL = 'vehicle.nissan.patrol'
 
 param EGO_SPEED = VerifaiRange(7, 10)
 
 param ADV_DIST = VerifaiRange(10, 25)
 param ADV_SPEED = VerifaiRange(2, 4)
 
-BYPASS_DIST = [15, 10]
+BYPASS_DIST = [20, 15]
 INIT_DIST = 50
 TERM_TIME = 5
 
@@ -53,7 +53,7 @@ behavior EgoBehavior():
                 laneSectionToSwitch=slowerLaneSec,
                 target_speed=globalParameters.EGO_SPEED)
         do FollowLaneBehavior(target_speed=globalParameters.EGO_SPEED) for TERM_TIME seconds
-        terminate 
+        terminate
 
 #################################
 # SPATIAL RELATIONS             #