Merge branch 'main' into 480-add-google-doc-link-to-screencasts-in-th…

…e-document-all-weaknesses-file

.github/ISSUE_TEMPLATE/BUG.yml

@@ -1,24 +1,74 @@
 name: 🐞 Bug
 title: "[Bug]: "
-description: Something doesn't behave as it should.
+description: A bug that requires attention.
 labels: ["bug"]
 body:
   - type: textarea
     id: current
     attributes:
       label: Current Behavior
-      placeholder: The car doesnt see a traffic light on Map1.
+      description: Describe the current, unexpected behavior.
+      placeholder: The car doesn’t detect the traffic light on Map1.
 
   - type: textarea
     id: expected
     attributes:
       label: Expected Behavior
-      placeholder: The car does see the traffic light on Map1.
+      description: Describe the expected, correct behavior.
+      placeholder: The car should detect the traffic light on Map1.
 
   - type: textarea
     id: reproduce
     attributes:
-      label: How to reproduce the issue
+      label: Steps to Reproduce
+      description: Provide steps to reproduce the issue.
       placeholder: |
-        * Start the simulation with Map1 
-        * after 600m the car won't stop at the traffic light.
+        * Start simulation on Map1.
+        * After 600m, the car should stop at the traffic light.
+
+  - type: textarea
+    id: definition_of_done
+    attributes:
+      label: Definition of Done
+      description: Criteria to consider this issue resolved.
+      placeholder: |
+        - The car detects traffic lights on Map1 correctly.
+        - The issue no longer occurs in similar scenarios.
+
+  - type: input
+    id: effort_estimate
+    attributes:
+      label: Effort Estimate
+      description: Approximate effort required (e.g., hours).
+      placeholder: Enter effort estimate.
+
+  - type: textarea
+    id: testability
+    attributes:
+      label: Testability
+      description: Describe how to test the fix.
+      placeholder: Describe testing steps for verification.
+
+  - type: textarea
+    id: dependencies
+    attributes:
+      label: Dependencies
+      description: List any dependent tasks or issues.
+      placeholder: Link dependencies here (e.g., \#123).
+
+  - type: markdown
+    attributes:
+      value: |
+        **Add Priority Label**:
+        - p1: Immediate attention
+        - p2: High priority
+        - p3: Standard priority
+        - p4: Low priority
+
+        **Add Group Label**:
+        - perception: Related to sensor processing and scene understanding
+        - planning: Related to path planning and decision making
+        - acting: Related to vehicle control and actuation
+        - system: Related to the general behavior of the system
+        - research: Related to research and experimentation
+        - infrastructure: Related to system infrastructure and setup

.github/ISSUE_TEMPLATE/FEATURE.yml

@@ -1,20 +1,58 @@
 name: 💡 Feature
 title: "[Feature]: "
-description: Something we should implement.
+description: A new feature to be implemented.
 labels: ["feature"]
 body:
   - type: textarea
-    id: desc
+    id: description
     attributes:
-      label: Description
-      description: Short description about what to do.
-      placeholder: The vehicle should detect traffic lights and it's states.
+      label: Feature Description
+      description: Provide a summary of the feature.
+      placeholder: The vehicle should detect traffic lights and their states.
 
   - type: textarea
-    id: dod
+    id: definition_of_done
     attributes:
       label: Definition of Done
-      description: What is required to mark the issue as done?
+      description: Completion criteria for the feature.
       placeholder: |
-        - 90% of the traffic lights are detected
-        - 90% of the traffic light states are detected correctly"
+        - Detects 90% of traffic lights.
+        - Correctly identifies 90% of traffic light states.
+
+  - type: input
+    id: effort_estimate
+    attributes:
+      label: Effort Estimate
+      description: Approximate effort required (e.g., hours).
+      placeholder: Enter effort estimate.
+
+  - type: textarea
+    id: testability
+    attributes:
+      label: Testability
+      description: How will the feature be tested?
+      placeholder: Describe test cases and success criteria.
+
+  - type: textarea
+    id: dependencies
+    attributes:
+      label: Dependencies
+      description: List any dependencies on other issues.
+      placeholder: Link dependencies here (e.g., \#456).
+
+  - type: markdown
+    attributes:
+      value: |
+        **Add Priority Label**:
+        - p1: Immediate attention
+        - p2: High priority
+        - p3: Standard priority
+        - p4: Low priority
+
+        **Add Group Label**:
+        - perception: Related to sensor processing and scene understanding
+        - planning: Related to path planning and decision making
+        - acting: Related to vehicle control and actuation
+        - system: Related to the general behavior of the system
+        - research: Related to research and experimentation
+        - infrastructure: Related to system infrastructure and setup

.github/ISSUE_TEMPLATE/ISSUE.yml

@@ -1,78 +1,55 @@
-name: "Issue Template"
-description: "Template for creating issues"
-labels: []
-assignees: []
+name: "General Issue"
+title: "[General]: "
+description: Template for general issues.
+labels: ["general"]
 
 body:
-  - type: markdown
-    attributes:
-      value: |
-        ## Please fill out all relevant fields:
-
   - type: textarea
     id: description
     attributes:
-      label: "Detailed Description"
-      description: "Describe the issue in detail"
+      label: Detailed Description
+      description: Describe the issue in detail.
       placeholder: |
-        Enter description here
+        Enter description here:
         - What is the problem?
-        - What is the expected behavior?
-        - What is the actual behavior?
+        - What is the expected outcome?
 
   - type: textarea
     id: definition_of_done
     attributes:
-      label: "Definition of Done"
-      description: "What needs to be completed for the task to be considered done?"
+      label: Definition of Done
+      description: Criteria for considering the task complete.
       placeholder: |
-        Example criteria:
-        - [ ] Implementation completed and tested
-        - [ ] Documentation updated
-        - [ ] Code review passed
-        - [ ] All tests passing
+        - Implementation completed and tested
+        - Documentation updated
+        - Code review passed
+        - All tests passing
 
   - type: input
     id: effort_estimate
     attributes:
-      label: "Effort Estimate"
-      description: "Estimate the effort required (e.g., in hours)"
-      placeholder: "Enter effort estimate here"
+      label: Effort Estimate
+      description: Approximate effort required (e.g., hours).
+      placeholder: Enter effort estimate.
 
   - type: textarea
     id: testability
     attributes:
-      label: "Testability"
-      description: "How can the implementation be tested?"
-      placeholder: "Enter testing methods here"
+      label: Testability
+      description: How to verify the issue's resolution.
+      placeholder: Enter test methods and validation criteria.
 
   - type: textarea
     id: dependencies
     attributes:
-      label: "Dependencies"
-      description: "Are there dependencies on other tasks or systems?"
-      placeholder: |
-        Enter dependencies here
-        - Task A must be completed before this task can start
-        - Link issues here with #<issue number>
+      label: Dependencies
+      description: List dependencies, if any.
+      placeholder: Link dependencies here (e.g., the issue \#789).
 
   - type: markdown
-    id: prioritization
     attributes:
       value: |
-        Add a priority label to this issue (p1 to p4) based on the following criteria:
-        - p1: Critical issue that needs immediate attention
-        - p2: Important issue that should be addressed soon
-        - p3: Issue that should be addressed in the near future
-        - p4: Issue that can be addressed later
-
-  - type: markdown
-    id: labels
-    attributes:
-      value: |
-        Add any relevant labels to this issue:
-
-        standard labels:
+        **Add Standard Label**:
         - bug: Something isn't working
         - enhancement: New feature or request
         - help wanted: Extra attention is needed
@@ -81,9 +58,16 @@ body:
         - question: Further information is requested
         - wontfix: This will not be worked on
 
-        project-specific labels:
+        **Add Priority Label**:
+        - p1: Immediate attention
+        - p2: High priority
+        - p3: Standard priority
+        - p4: Low priority
+
+        **Add Group Label**:
         - perception: Related to sensor processing and scene understanding
         - planning: Related to path planning and decision making
         - acting: Related to vehicle control and actuation
+        - system: Related to the general behavior of the system
         - research: Related to research and experimentation
         - infrastructure: Related to system infrastructure and setup

.github/workflows/build.yml

@@ -123,5 +123,5 @@ jobs:
           rm -rf /tmp/.buildx-cache/cache/latest
           mv /tmp/.buildx-cache/cache-new/latest /tmp/.buildx-cache/cache/latest
       
-      - name: Prune all images older than 1 days from self-hosted runner
+      - name: Prune all images older than 1 day from self-hosted runner
         run: docker image prune -a -f --filter "until=24h"

.vscode/extensions.json

@@ -12,6 +12,7 @@
         "richardkotze.git-mob",
         "ms-vscode-remote.remote-containers",
         "valentjn.vscode-ltex",
-        "ms-python.black-formatter"
+        "ms-python.black-formatter",
+        "augustocdias.tasks-shell-input"
     ]
 }

.vscode/launch.json

@@ -0,0 +1,23 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "53000 leaderboard attach",
+            "type": "debugpy",
+            "request": "attach",
+            "connect": {
+                "host": "localhost",
+                "port": 53000
+            },
+            "pathMappings": [
+                {
+                    "localRoot": "${workspaceFolder}/code",
+                    "remoteRoot": "${env:PAF_CATKIN_CODE_ROOT}"
+                }
+            ]
+        }
+    ],
+}

.vscode/tasks.json

@@ -0,0 +1,22 @@
+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "Run 'catkin_make' in docker container. Choose container from list of running containers.",
+            "type": "shell",
+            "command": "docker exec -it ${input:container_name} bash -c 'cd ../../catkin_ws && source /opt/ros/noetic/setup.bash && bash devel/setup.bash && catkin_make'",
+            "problemMatcher": [],
+            "detail": "Executes 'catkin_make' selected container. Requires Tasks Shell Input Extension, in order to generate the list of containers.",
+        }
+    ],
+    "inputs": [
+        {
+            "id": "container_name",
+            "type": "command",
+            "command": "shellCommand.execute",
+            "args": {
+                "command": "docker ps --format '{{.Names}}'",
+            }
+        }
+    ]
+}

build/agent_service.yaml

@@ -30,6 +30,7 @@ services:
       - ROS_HOSTNAME=agent
       - XDG_RUNTIME_DIR=/tmp/runtime-carla
       - ROUTE=/opt/leaderboard/data/routes_devtest.xml
+      - DEBUG_WRAPPER_DEFAULT_HOST=0.0.0.0
       # Simple route without special scenarios
       # - ROUTE=/workspace/code/routes/routes_simple.xml
     volumes:

build/docker-compose.leaderboard.yaml

@@ -8,4 +8,11 @@ services:
     extends:
       file: agent_service.yaml
       service: agent
-    command: bash -c "sleep 10 && sudo chown -R ${USER_UID}:${USER_GID} ../ && sudo chmod -R a+w ../ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=$${ROUTE} --agent=/workspace/code/agent/src/agent/agent.py --host=$${CARLA_SIM_HOST} --track=MAP"
+    ports:
+      # Reserved ports for the debugger
+      - "53000-53100:53000-53100"
+    command: |-
+      bash -c "sleep 10 && sudo chown -R ${USER_UID}:${USER_GID} ../ && \
+      sudo chmod -R a+w ../ && sudo mkdir -p $${XDG_RUNTIME_DIR} && sudo chmod 0700 $${XDG_RUNTIME_DIR} && sudo chown -R ${USER_UID}:${USER_GID} $${XDG_RUNTIME_DIR} && \
+      (rqt_console &) && disown -a && \
+      python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=$${ROUTE} --agent=/workspace/code/agent/src/agent/agent.py --host=$${CARLA_SIM_HOST} --track=MAP"

build/docker/agent/Dockerfile

@@ -162,8 +162,10 @@ RUN source ~/.bashrc && pip install -r /workspace/requirements.txt
 # Add agent code
 COPY --chown=$USERNAME:$USERNAME ./code /workspace/code/
 
+# For debugger
+ENV PAF_CATKIN_CODE_ROOT=/catkin_ws/src/code
 # Link code into catkin workspace
-RUN ln -s /workspace/code /catkin_ws/src
+RUN ln -s -T /workspace/code ${PAF_CATKIN_CODE_ROOT}
 
 # re-make the catkin workspace
 RUN source /opt/ros/noetic/setup.bash && catkin_make