Add ScenarioRunner Docker configuration

scenario-runner/.dockerignore

@@ -0,0 +1,3 @@
+Dockerfile
+README.md
+requirements.txt

scenario-runner/Dockerfile

@@ -0,0 +1,46 @@
+# Copyright 2023 Leidos
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+FROM ubuntu:18.04
+
+ARG CARLA_VERSION=0.9.10
+
+RUN apt update \
+    && DEBIAN_FRONTEND=noninteractive apt install --no-install-recommends --yes --quiet \
+        libpng16-16 \
+        libtiff5 \
+        libjpeg8 \
+        build-essential \
+        wget \
+        git \
+        python3.7 \
+        python3.7-dev \
+        python3-pip \
+        libxerces-c-dev \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /tmp
+RUN wget -qO- "https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_$CARLA_VERSION.tar.gz" \
+        | tar -xz PythonAPI/carla \
+    && mkdir -p /app \
+    && mv PythonAPI/carla /app \
+    && rm -rf *
+
+COPY . .
+RUN ./install_carma_scenario_runner --prefix /app $CARLA_VERSION
+
+WORKDIR /app/scenario_runner
+ENV PYTHONPATH "/app/carla/agents:/app/carla:/app/carla/dist/carla-$CARLA_VERSION-py3.7-linux-x86_64.egg"
+
+ENTRYPOINT ["python3", "scenario_runner.py"]

scenario-runner/README.md

@@ -5,3 +5,66 @@ scenario configurations to facilitate integration testing. This still a work in
 progress, so the scenarios serve more as example references.
 
 [scenario_runner_docs_link]: https://carla-scenariorunner.readthedocs.io/en/latest/
+
+## Getting started
+
+ScenarioRunner's code resides in the `srunner` Python package, and the
+`scenario_runner.py` script is responsible for launching scenarios. If we want
+to use ScenarioRunner for custom CARMA scenarios, we have to overcome three
+technical hurdles:
+
+1. the `srunner` package is unavailable in [PyPi][pypi_link];
+2. we have to embed our scenario definitions and configurations within
+   `srunner`; and
+3. ScenarioRunner uses on the [CARLA Python API][carla_python_api_link]
+   internally, which we have to install separately.
+
+You have three options for getting ScenarioRunner working with the custom
+CARMA scenarios, each described below.
+
+[pypi_link]: https://pypi.org
+[carla_python_api_link]: https://carla.readthedocs.io/en/latest/python_api/
+
+### Manual installation
+
+Check out the official documentation on how to install ScenarioRunner, the
+CARLA Python client library. Their instructions also show how to add custom
+scenario definitions (in the `scenarios/` directory) and configurations (in the
+`examples/` directory) to the installation.
+
+### Convenience script
+
+You can use the convenience script (`install_carma_scenario_runner`) provided
+in this directory to download and install a specific ScenarioRunner version to
+a desired location. The script will also replace the provided scenarios with
+the ones specific to CARMA.
+
+The example below shows how you can install ScenarioRunner version 0.9.10 to
+the `/opt/scenario_runner` directory:
+
+```shell
+$ ./install_carma_scenario_runner --prefix /opt 0.9.10
+```
+
+> [!IMPORTANT]\
+> This script does not install the CARLA Python client library, so you will
+> still have to do that separately. It also does not modify the `PYTHONPATH`
+> environment variable, so double check that Python can find the `srunner`
+> package after you install it.
+
+### Docker (recommended)
+
+You can build a Docker image that packages ScenarioRunner, the CARMA scenarios,
+and the CARLA Python API. The `Dockerfile` included in this directory handles
+all the required installation steps.
+
+After building the image, you can run ScenarioRunner as shown in the below
+example:
+
+```shell
+$ docker run --rm -it usdotfhwastol/carma-scenario-runner:0.9.10 \
+    --scenario FollowLeadingVehicle_1 --reloadWorld
+```
+
+The container automatically invokes the `scenario_runner.py` script, so you
+need only to specify the desired scenario.

scenario-runner/my_scenario.xml → scenario-runner/examples/my_scenario.xml

@@ -20,7 +20,7 @@ limitations under the License.
     <scenario name="MyScenario_1" type="MyScenario" town="Town04">
         <ego_vehicle x="203.44" y="-230.0" z="2" yaw="-90.0" model="vehicle.audi.a2" rolename="carma"/>
 
-        <other_actor x="212.68" y="-242.44" z="2" model="vehicle.diamondback.century" rolename="cyclist"/>
+        <!-- <other_actor x="212.68" y="-242.44" z="2" model="vehicle.diamondback.century" rolename="cyclist"/> -->
         <other_actor x="214.79" y="-245.61" z="2" model="vehicle.carlamotors.carlacola" rolename="heavy_truck"/>
         <other_actor x="216.58" y="-248.69" z="2" model="walker.pedestrian.0001" rolename="in_road_person"/>
         <other_actor x="195.59" y="-254.18" z="2" yaw="90.0" model="walker.pedestrian.0002" rolename="crossing_person"/>

scenario-runner/install_carma_scenario_runner

@@ -0,0 +1,214 @@
+#!/bin/bash
+
+# Copyright 2023 Leidos
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#######################################
+# Prints a string to standard error
+# Globals:
+#   None
+# Arguments:
+#   String to print
+# Returns:
+#   0
+#######################################
+function err() {
+  echo "$*" >&2
+}
+
+#######################################
+# Prints error and exits script if argument count is unexpected
+# Globals:
+#   None
+# Arguments:
+#   Actual argument count
+#   Expected argument count
+#   Error message to print before exiting (if unexpected count)
+# Returns:
+#   0
+#######################################
+function assert_argument_count_eq() {
+  if [ "$1" -ne "$2" ]; then
+    if [ "$#" -eq 3 ]; then
+      echo "$3"
+    fi
+    print_usage
+    exit 1
+  fi
+}
+
+#######################################
+# Prints the script's argument descriptions
+# Globals:
+#   None
+# Arguments:
+#   None
+# Returns:
+#   0
+#######################################
+function print_help() {
+  command cat <<-HELP
+options:
+  -h, --help                Show usage
+  --prefix                  The path prefix for the installation. Installation
+                            will be located at <install_prefix>/scenario_runner
+
+positional arguments:
+  scenario_runner_version   The scenario_runner version to install (should be
+                            identical to the CARLA version being used)
+HELP
+}
+
+#######################################
+# Prints the script's usage
+# Globals:
+#   None
+# Arguments:
+#   None
+# Returns:
+#   0
+#######################################
+function print_usage() {
+  command cat <<-USAGE
+usage: install_carma_scenario_runner [-h | --help] [--prefix <install_prefix>]
+                                     <scenario_runner_version>
+USAGE
+}
+
+#######################################
+# Downlaods a minimized scenario_runner
+# Globals:
+#   SCENARIO_RUNNER_HOME (read)
+#   SCENARIO_RUNNER_VERSION (read)
+# Arguments:
+#   None
+# Returns:
+#   0 if the download succeeded
+#######################################
+function install_minimal_scenario_runner() {
+  if ! git clone \
+    -c advice.detachedHead=false \
+    --depth 1 \
+    --branch "${SCENARIO_RUNNER_VERSION}" \
+    https://github.com/carla-simulator/scenario_runner.git \
+    "${SCENARIO_RUNNER_HOME}"
+  then
+    err "error: could not clone scenario_runner repository"
+    return "$?"
+  fi
+
+  (
+    cd "${SCENARIO_RUNNER_HOME}" || exit
+
+    python3 -m pip install --upgrade --no-cache-dir -r requirements.txt
+
+    rm -rf \
+      CARLA_VER \
+      Dockerfile \
+      Docs \
+      .git \
+      .github \
+      .gitignore \
+      Jenkinsfile \
+      LICENSE \
+      manual_control.py \
+      metrics_manager.py \
+      mkdocs.yml \
+      no_rendering_mode.py \
+      .pylintrc \
+      README.md \
+      .readthedocs.yml \
+      requirements.txt \
+      tests
+
+    # We will replace the provided scenarios with our own
+    rm -rf srunner/examples
+  )
+}
+
+#######################################
+# Installs CARMA-specific scenario_runner scenarios from current directory
+# Globals:
+#   SCENARIO_RUNNER_HOME (read)
+# Arguments:
+#   None
+# Returns:
+#   0
+#######################################
+function install_carma_scenarios() {
+  cp -r scenarios examples "${SCENARIO_RUNNER_HOME}/srunner"
+}
+
+#######################################
+# Main script entrypoint
+# Globals:
+#   SCENARIO_RUNNER_HOME (write)
+#   SCENARIO_RUNNER_VERSION (write)
+# Arguments:
+#   commandline arguments
+# Returns:
+#   0
+#######################################
+function main() {
+  local install_prefix=""
+
+  while :; do
+    case "$1" in
+      -h|--help)
+        print_usage
+        echo ""
+        print_help
+        exit 0
+        ;;
+      --prefix)
+        shift
+        if [ "$#" -eq 0 ]; then
+          err "error: option 'prefix' requires a value"
+          print_usage
+          exit 129
+        fi
+        install_prefix="$1"
+        ;;
+      *)
+        if [[ "$1" == -* ]]; then
+          err "unknown option '$1'"
+          print_usage
+          exit 129
+        fi
+        break
+    esac
+    shift
+  done
+
+  assert_argument_count_eq "$#" 1 "error: missing scneario_runner branch"
+
+  mkdir -p "${install_prefix}"
+
+  declare -rg SCENARIO_RUNNER_HOME="${install_prefix:+${install_prefix}/}scenario_runner"
+  declare -rg SCENARIO_RUNNER_VERSION="$1"
+
+  python3 -m pip install --upgrade --no-cache-dir pip setuptools wheel
+
+  if ! install_minimal_scenario_runner; then
+    err "error: could not install scenario_runner"
+    exit 1
+  fi
+
+  if ! install_carma_scenarios; then
+    err "error: could not install CARMA scenarios"
+    exit 1
+  fi
+}
+
+main "$@"