From 9e9b3f9e8cb3b3799ceff0b8267e8fc7c6089c37 Mon Sep 17 00:00:00 2001
From: JulianTrommer <julian.trommer@uni-a.de>
Date: Mon, 1 Jul 2024 14:54:01 +0200
Subject: [PATCH] feat: Added route without scenarios

---
 build/docker-compose.yml      |  4 ++-
 code/routes/routes_simple.xml | 51 +++++++++++++++++++++++++++++++++++
 2 files changed, 54 insertions(+), 1 deletion(-)
 create mode 100644 code/routes/routes_simple.xml

diff --git a/build/docker-compose.yml b/build/docker-compose.yml
index eeece9ed..af4a4ba5 100644
--- a/build/docker-compose.yml
+++ b/build/docker-compose.yml
@@ -76,7 +76,7 @@ services:
               capabilities: [ gpu ]
     #command: bash -c "sleep 10 && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/opt/leaderboard/leaderboard/autoagents/npc_agent.py --host=carla-simulator --track=SENSORS"
     #command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch"
-    command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=carla-simulator --track=MAP"
+    command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=$${ROUTE} --agent=/workspace/code/agent/src/agent/agent.py --host=carla-simulator --track=MAP"
 
     logging:
       driver: "local"
@@ -88,6 +88,8 @@ services:
       - CARLA_SIM_HOST=carla-simulator
       - ROS_HOSTNAME=agent
       - XDG_RUNTIME_DIR=/tmp/runtime-carla
+      # - ROUTE=/opt/leaderboard/data/routes_devtest.xml
+      - ROUTE=/workspace/code/routes/routes_simple.xml
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
       # if you change the volume here also change the copy command
diff --git a/code/routes/routes_simple.xml b/code/routes/routes_simple.xml
new file mode 100644
index 00000000..b119f769
--- /dev/null
+++ b/code/routes/routes_simple.xml
@@ -0,0 +1,51 @@
+<routes>
+   <route id="0" town="Town12">
+      <weathers>
+         <weather route_percentage="0"
+            cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0"
+            wind_intensity="10.0" sun_azimuth_angle="-1.0" sun_altitude_angle="90.0" fog_density="2.0"/>
+         <weather route_percentage="100"
+            cloudiness="5.0" precipitation="0.0" precipitation_deposits="0.0" wetness="0.0"
+            wind_intensity="10.0" sun_azimuth_angle="-1.0" sun_altitude_angle="15.0" fog_density="2.0"/>
+      </weathers>
+      <waypoints>
+         <position x="983.5" y="5382.2" z="371"/>
+         <position x="824.2" y="5575.3" z="371"/>
+         <position x="605.5" y="5575.5" z="370"/>
+         <position x="497.5" y="5718.3" z="368"/>
+         <position x="516.3" y="5897.4" z="364"/>
+         <position x="355.1" y="6138.1" z="358"/>
+         <position x="285.9" y="6127.4" z="358"/>
+         <position x="213.5" y="6100.5" z="358"/>
+         <position x="-221.6" y="6100.7" z="358"/>
+         <position x="-264.6" y="6019.4" z="360"/>
+         <position x="-297.9" y="5816.4" z="366"/>
+         <position x="-421.5" y="5871.9" z="367"/>
+         <position x="-374.0" y="6012.7" z="361"/>
+         <position x="-453.1" y="6101.2" z="360"/>
+         <position x="-536.9" y="6071.1" z="363"/>
+         <position x="-537.4" y="6000.8" z="365"/>
+         <position x="-620.9" y="6001.5" z="367"/>
+         <position x="-784.0" y="6185.4" z="365"/>
+         <position x="-817.1" y="6063.3" z="369"/>
+         <position x="-817.8" y="5685.4" z="375"/>
+         <position x="-819.3" y="4835.2" z="372"/>
+         <position x="-529.7" y="4730.9" z="375"/>
+         <position x="-497.3" y="4777.9" z="375"/>
+         <position x="-497.3" y="4884.0" z="375"/>
+         <position x="-496.1" y="5014.6" z="375"/>
+         <position x="-414.4" y="5056.2" z="375"/>
+         <position x="-222.5" y="4944.1" z="374"/>
+         <position x="-223.4" y="4834.8" z="374"/>
+         <position x="-586.4" y="4834.7" z="375"/>
+         <position x="-732.7" y="4962.2" z="376"/>
+         <position x="-705.4" y="5204.9" z="376"/>
+         <position x="-269.4" y="5151.9" z="374"/>
+         <position x="-218.7" y="5271.0" z="373"/>
+         <position x="-163.9" y="5404.6" z="372"/>
+         <position x="75.0" y="5587.0" z="367.2"/>
+      </waypoints>
+      <scenarios>
+      </scenarios>
+   </route>
+</routes>