From fac15916650f65ebf1694be93edf203aa20078e6 Mon Sep 17 00:00:00 2001 From: Misheel Bayartsengel Date: Fri, 5 Apr 2024 11:32:40 -0400 Subject: [PATCH] Adding new parameters and script to stop_simulation (#336) --- ail_vru_uc1_scenario/cdasim_config/.env | 2 +- .../carma-platform/yield_plugin/parameters.yaml | 8 ++++---- ail_vru_uc1_scenario/cdasim_config/stop_simulation | 10 ++++++++++ 3 files changed, 15 insertions(+), 5 deletions(-) diff --git a/ail_vru_uc1_scenario/cdasim_config/.env b/ail_vru_uc1_scenario/cdasim_config/.env index fc400902..426abf6d 100644 --- a/ail_vru_uc1_scenario/cdasim_config/.env +++ b/ail_vru_uc1_scenario/cdasim_config/.env @@ -16,4 +16,4 @@ VEHICLE_SELECTED_ROUTE=vru_uc1_north # SCENARIO: South to North through (B) SIMULATION_SCENARIO="VulnerableRoadUserCollision_ThreeTrucks_1" VEHICLE_SPAWN_POINT="258.12,-125,0,0,0,90" -VEHICLE_ENGAGE_DELAY='105' +VEHICLE_ENGAGE_DELAY='80' diff --git a/ail_vru_uc1_scenario/cdasim_config/carma-platform/yield_plugin/parameters.yaml b/ail_vru_uc1_scenario/cdasim_config/carma-platform/yield_plugin/parameters.yaml index a2cf5f5b..fd6d9a05 100644 --- a/ail_vru_uc1_scenario/cdasim_config/carma-platform/yield_plugin/parameters.yaml +++ b/ail_vru_uc1_scenario/cdasim_config/carma-platform/yield_plugin/parameters.yaml @@ -11,7 +11,7 @@ on_route_vehicle_collision_horizon_in_s: 10.0 # Minimum speed for moving obstacle # Units: m/s # Value type: Desired -min_obstacle_speed_in_ms: 0.5 +min_obstacle_speed_in_ms: 0.25 # Minimum object avoidance planning time # Units: s # Value type: Desired @@ -19,15 +19,15 @@ min_obj_avoidance_plan_time_in_s: 2.0 # Deceleration value used for yielding trajectories # Units: m/s^2 # Value type: Desired -yield_max_deceleration_in_ms2: 9.0 +yield_max_deceleration_in_ms2: 3.0 # Minimum safety gap with an Object/Obstacle # Units: meters # Value type: Desired -minimum_safety_gap_in_meters: 10.0 +minimum_safety_gap_in_meters: 4.0 # Maximum speed value to consider the ego vehicle stopped # Units: m/s # Value type: Desired -max_stop_speed_in_ms: 1.0 +max_stop_speed_in_ms: 0.25 # parameter to enable cooperative behavior # Value type: Desired enable_cooperative_behavior: false diff --git a/ail_vru_uc1_scenario/cdasim_config/stop_simulation b/ail_vru_uc1_scenario/cdasim_config/stop_simulation index 828492e4..b7198f21 100755 --- a/ail_vru_uc1_scenario/cdasim_config/stop_simulation +++ b/ail_vru_uc1_scenario/cdasim_config/stop_simulation @@ -1,15 +1,25 @@ #!/bin/bash # Script to stop simulation. # Pulls all Kafka message data +# Pulls RTF data from MOSAIC in cdasim container # Stops and removes all docker containers # Prunes all Kafka related volumes if ! [ -f /opt/carma-streets/scripts/collect_kafka_logs.py ] ; then echo "Installing collect_kafka_logs.py into /opt/carma-streets/scripts/ ...." wget -q https://raw.githubusercontent.com/usdot-fhwa-stol/carma-streets/release/lavida/collect_kafka_logs.py -P /opt/carma-streets/scripts + sudo chmod 777 /opt/carma-streets/scripts/collect_kafka_logs.py +fi +if ! [ -f /opt/carma-simulation/scripts/extract_rtf_data ] ; then + echo "Installing extract_rtf_data into /opt/carma-simulation/scripts/ ...." + wget -q https://raw.githubusercontent.com/usdot-fhwa-stol/carma-analytics-fotda/release/lavida/vru_use_case_scripts/extract_rtf_data -P /opt/carma-simulation/scripts + sudo chmod 777 /opt/carma-simulation/scripts/extract_rtf_data fi filename=carma_streets_kafka_"$(date +%F_%H-%M-%S)" echo "Collecting CARMA Streets Kafka messages into ${filename}.zip" python3 /opt/carma-streets/scripts/collect_kafka_logs.py --zip True "${filename}" +filename_rtf=cdasim_rtf_data_"$(date +%F_%H-%M-%S)" +echo "Collecting RTF data into ${filename_rtf}.csv" +docker logs carma-simulation 2>&1 | /opt/carma-simulation/scripts/extract_rtf_data > ${filename_rtf}.csv echo "Stopping simulation ..." carma stop all # Kafka message volumes retain messages and consumer offsets from previous run