From a395f62a64b360b6bdfadc39fff446f6f2abff79 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 12 Dec 2023 16:13:11 +0100 Subject: [PATCH 001/105] add initial jenkinsfile for working in CVC servers --- Jenkinsfile_new | 352 ++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 352 insertions(+) create mode 100644 Jenkinsfile_new diff --git a/Jenkinsfile_new b/Jenkinsfile_new new file mode 100644 index 000000000..97f89a2a2 --- /dev/null +++ b/Jenkinsfile_new @@ -0,0 +1,352 @@ +#!/usr/bin/env groovy + +pipeline +{ + agent none + + options + { + buildDiscarder(logRotator(numToKeepStr: '3', artifactNumToKeepStr: '3')) + } + + stages + { + /*stage('Creating nodes') + { + + agent { label "master" } + steps + { + script + { + JOB_ID = "${env.BUILD_TAG}" + jenkinsLib = load("/home/jenkins/jenkins_426.groovy") + + jenkinsLib.CreateUbuntuBuildNode(JOB_ID) + jenkinsLib.CreateWindowsBuildNode(JOB_ID) + } + } + }*/ + stage('Building CARLA') + { + parallel + { + stage('ubuntu') + { + agent { label "ubuntu" } + environment + { + UE4_ROOT = '/home/jenkins/UnrealEngine_4.26' + } + stages + { + stage('ubuntu setup') + { + steps + { + sh 'git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject' + sh 'make setup ARGS="--python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' + } + } + stage('ubuntu build') + { + steps + { + sh 'make LibCarla' + sh 'make PythonAPI ARGS="--python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make CarlaUE4Editor ARGS="--chrono"' + sh 'make plugins' + sh 'make examples' + } + post + { + always + { + archiveArtifacts 'PythonAPI/carla/dist/*.egg' + archiveArtifacts 'PythonAPI/carla/dist/*.whl' + stash includes: 'PythonAPI/carla/dist/*.egg', name: 'ubuntu_eggs' + stash includes: 'PythonAPI/carla/dist/*.whl', name: 'ubuntu_wheels' + } + } + } + stage('ubuntu unit tests') + { + steps + { + sh 'make check ARGS="--all --xml --python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64"' + } + post + { + always + { + junit 'Build/test-results/*.xml' + archiveArtifacts 'profiler.csv' + } + } + } + stage('ubuntu retrieve content') + { + steps + { + sh './Update.sh' + } + } + stage('ubuntu package') + { + steps + { + sh 'make package ARGS="--python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' + sh 'make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make examples ARGS="localhost 3654"' + } + post + { + always + { + archiveArtifacts 'Dist/*.tar.gz' + stash includes: 'Dist/CARLA*.tar.gz', name: 'ubuntu_package' + // stash includes: 'Dist/AdditionalMaps*.tar.gz', name: 'ubuntu_package2' + stash includes: 'Examples/', name: 'ubuntu_examples' + } + success + { + node('master') + { + script + { + JOB_ID = "${env.BUILD_TAG}" + jenkinsLib = load("/home/jenkins/jenkins_426.groovy") + + jenkinsLib.CreateUbuntuTestNode(JOB_ID) + } + } + } + } + } + stage('ubuntu smoke tests') + { + agent { label "ubuntu && gpu" } + steps + { + unstash name: 'ubuntu_eggs' + unstash name: 'ubuntu_wheels' + unstash name: 'ubuntu_package' + // unstash name: 'ubuntu_package2' + unstash name: 'ubuntu_examples' + sh 'tar -xvzf Dist/CARLA*.tar.gz -C Dist/' + // sh 'tar -xvzf Dist/AdditionalMaps*.tar.gz -C Dist/' + sh 'DISPLAY= ./Dist/CarlaUE4.sh -nullrhi -RenderOffScreen --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &' + sh 'make smoke_tests ARGS="--xml --python-version=3.7 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make run-examples ARGS="localhost 3654"' + } + post + { + always + { + archiveArtifacts 'CarlaUE4.log' + junit 'Build/test-results/smoke-tests-*.xml' + deleteDir() + /*node('master') + { + script + { + JOB_ID = "${env.BUILD_TAG}" + jenkinsLib = load("/home/jenkins/jenkins_426.groovy") + + jenkinsLib.DeleteUbuntuTestNode(JOB_ID) + } + }*/ + } + } + } + /* + stage('ubuntu deploy dev') + { + when { branch "dev"; } + steps + { + sh 'git checkout .' + sh 'make deploy ARGS="--replace-latest"' + } + } + stage('ubuntu deploy master') + { + when { anyOf { branch "master"; buildingTag() } } + steps + { + sh 'git checkout .' + sh 'make deploy ARGS="--replace-latest --docker-push"' + } + } + stage('ubuntu Doxygen') + { + when { anyOf { branch "master"; branch "dev"; buildingTag() } } + steps + { + sh 'rm -rf ~/carla-simulator.github.io/Doxygen' + sh ''' + cd ~/carla-simulator.github.io + git remote set-url origin git@docs:carla-simulator/carla-simulator.github.io.git + git fetch + git checkout -B master origin/master + ''' + sh 'make docs' + sh 'cp -rf ./Doxygen ~/carla-simulator.github.io/' + sh ''' + cd ~/carla-simulator.github.io + git add Doxygen + git commit -m "Updated c++ docs" || true + git push + ''' + } + post + { + always + { + deleteDir() + } + } + } + */ + } + post + { + always + { + deleteDir() + + /*node('master') + { + script + { + JOB_ID = "${env.BUILD_TAG}" + jenkinsLib = load("/home/jenkins/jenkins_426.groovy") + + jenkinsLib.DeleteUbuntuBuildNode(JOB_ID) + } + }*/ + } + } + } + /* + stage('windows') + { + agent { label "windows" } + environment + { + UE4_ROOT = 'C:\\UE_4.26' + } + stages + { + stage('windows setup') + { + steps + { + bat """ + call ../setEnv64.bat + git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject + """ + bat """ + call ../setEnv64.bat + make setup ARGS="--chrono" + """ + } + } + stage('windows build') + { + steps + { + bat """ + call ../setEnv64.bat + make LibCarla + """ + bat """ + call ../setEnv64.bat + make PythonAPI + """ + bat """ + call ../setEnv64.bat + make CarlaUE4Editor ARGS="--chrono" + """ + bat """ + call ../setEnv64.bat + make plugins + """ + } + post + { + always + { + archiveArtifacts 'PythonAPI/carla/dist/*.egg' + archiveArtifacts 'PythonAPI/carla/dist/*.whl' + } + } + } + stage('windows retrieve content') + { + steps + { + bat """ + call ../setEnv64.bat + call Update.bat + """ + } + } + stage('windows package') + { + steps + { + bat """ + call ../setEnv64.bat + make package ARGS="--chrono" + """ + bat """ + call ../setEnv64.bat + make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate" + """ + } + post { + always { + archiveArtifacts 'Build/UE4Carla/*.zip' + } + } + } + + stage('windows deploy') + { + when { anyOf { branch "master"; branch "dev"; buildingTag() } } + steps { + bat """ + call ../setEnv64.bat + git checkout . + make deploy ARGS="--replace-latest" + """ + } + } + + } + post + { + always + { + deleteDir() + /* + node('master') + { + script + { + JOB_ID = "${env.BUILD_TAG}" + jenkinsLib = load("/home/jenkins/jenkins_426.groovy") + + jenkinsLib.DeleteWindowsBuildNode(JOB_ID) + } + } + + } + } + } + */ + } + } + } +} From 7e69258e2dd202a0af2cfb8b17ca9b77615d29f4 Mon Sep 17 00:00:00 2001 From: Blyron <53337103+Blyron@users.noreply.github.com> Date: Wed, 13 Dec 2023 08:00:20 +0100 Subject: [PATCH 002/105] Aaron/updateurls (#6994) * Set commit for download libsomscout * Update urls to new storage * Merge dev into current branch --- Docs/build_update.md | 76 ++++++++++----------- Docs/download.md | 8 +-- Docs/tuto_content_authoring_vehicles.md | 88 ++++++++++++------------- Docs/tutorials.md | 50 +++++++------- README.md | 12 ++-- Update.bat | 2 +- Update.sh | 2 +- Util/BuildTools/Setup.bat | 2 +- Util/BuildTools/Setup.sh | 4 +- Util/ContentVersions.txt | 2 +- Util/CreateDebian.sh | 4 +- Util/InstallersWin/install_boost.bat | 2 +- Util/InstallersWin/install_libpng.bat | 2 +- Util/InstallersWin/install_xercesc.bat | 6 +- Util/InstallersWin/install_zlib.bat | 2 +- 15 files changed, 131 insertions(+), 131 deletions(-) diff --git a/Docs/build_update.md b/Docs/build_update.md index eb5432934..f3f7eff8f 100644 --- a/Docs/build_update.md +++ b/Docs/build_update.md @@ -1,13 +1,13 @@ # Update CARLA -* [__Update commands summary__](#update-commands-summary) -* [__Get the lastest binary release__](#get-latest-binary-release) -* [__Update Linux and Windows build__](#update-linux-and-windows-build) - * [Clean the build](#clean-the-build) - * [Pull from origin](#pull-from-origin) - * [Download the assets](#download-the-assets) - * [Launch the server](#launch-the-server) -* [__Get development assets__](#get-development-assets) +* [__Update commands summary__](#update-commands-summary) +* [__Get the lastest binary release__](#get-latest-binary-release) +* [__Update Linux and Windows build__](#update-linux-and-windows-build) + * [Clean the build](#clean-the-build) + * [Pull from origin](#pull-from-origin) + * [Download the assets](#download-the-assets) + * [Launch the server](#launch-the-server) +* [__Get development assets__](#get-development-assets) To post unexpected issues, doubts or suggestions, feel free to login in the CARLA forum. @@ -25,30 +25,30 @@ CARLA forum Show command lines to update CARLA ```sh -# Update a CARLA packaged release. -# 1. Delete the current one. -# 2. Follow the Quick start installation to get the one desired. +# Update a CARLA packaged release. +# 1. Delete the current one. +# 2. Follow the Quick start installation to get the one desired. -# Update Linux build. +# Update Linux build. git checkout master make clean git pull origin master ./Update.sh -# Update Windows build. +# Update Windows build. git checkout master make clean git pull origin master # Erase the content in `Unreal\CarlaUE4\Content\Carla`. # Go to `\Util\ContentVersions.txt`. # Download the latest content. -# Extract the new content in `Unreal\CarlaUE4\Content\Carla`. +# Extract the new content in `Unreal\CarlaUE4\Content\Carla`. -# Get development assets. -# Delete the `/Carla` folder containing previous assets. +# Get development assets. +# Delete the `/Carla` folder containing previous assets. # Go to the main carla folder. git clone https://bitbucket.org/carla-simulator/carla-content Unreal/CarlaUE4/Content/Carla @@ -56,11 +56,11 @@ git clone https://bitbucket.org/carla-simulator/carla-content Unreal/CarlaUE4/Co --- -## Get latest binary release +## Get latest binary release -Binary releases are prepackaged and thus, tied to a specific version of CARLA. To get the latest, erase the previous and follow the [quick start installation](start_quickstart.md) to get the one desired. +Binary releases are prepackaged and thus, tied to a specific version of CARLA. To get the latest, erase the previous and follow the [quick start installation](start_quickstart.md) to get the one desired. -Releases are listed in __Development__ in the CARLA repository. There is also a highly experimental __Nightly build__ containing the current state of CARLA up to date. +Releases are listed in __Development__ in the CARLA repository. There is also a highly experimental __Nightly build__ containing the current state of CARLA up to date.

@@ -69,22 +69,22 @@ Releases are listed in __Development__ in the CARLA repository. There is also a

- + Get the linux nightly build

- + Get the linux nightly build additional maps

- + Get the windows nightly build

- + Get the windows nightly build additional maps

@@ -93,22 +93,22 @@ Releases are listed in __Development__ in the CARLA repository. There is also a --- ## Update Linux and Windows build -Make sure to be in the local `master` branch before the update. Then, merge or rebase the changes to other branches and solve possible conflicts. +Make sure to be in the local `master` branch before the update. Then, merge or rebase the changes to other branches and solve possible conflicts. -```sh +```sh git checkout master ``` ### Clean the build Go to the main CARLA folder and delete binaries and temporals generated by the previous build. -```sh +```sh make clean ``` ### Pull from origin -Get the current version from `master` in the CARLA repository. +Get the current version from `master` in the CARLA repository. ```sh git pull origin master ``` @@ -120,19 +120,19 @@ __Linux.__ ./Update.sh ``` -__Windows.__ +__Windows.__ -__1.__ Erase the previous content in `Unreal\CarlaUE4\Content\Carla`. -__2.__ Go to `\Util\ContentVersions.txt`. -__3.__ Download the content for `latest`. -__4.__ Extract the new content in `Unreal\CarlaUE4\Content\Carla`. +__1.__ Erase the previous content in `Unreal\CarlaUE4\Content\Carla`. +__2.__ Go to `\Util\ContentVersions.txt`. +__3.__ Download the content for `latest`. +__4.__ Extract the new content in `Unreal\CarlaUE4\Content\Carla`. !!! Note - In order to work with that the CARLA team is devleoping, go to __get development assets__ below. + In order to work with that the CARLA team is devleoping, go to __get development assets__ below. ### Launch the server -Run the server in spectator view to make sure that everything worked properly. +Run the server in spectator view to make sure that everything worked properly. ```sh make launch @@ -141,18 +141,18 @@ make launch --- ## Get development assets -The CARLA team works with assets still in development. These models and maps have a [public git repository][contentrepolink] where the CARLA team regularly pushes latest updates. Assets are still unfinished, using them is only recommended for developers. +The CARLA team works with assets still in development. These models and maps have a [public git repository][contentrepolink] where the CARLA team regularly pushes latest updates. Assets are still unfinished, using them is only recommended for developers. -In order to handle this repository it is advisted to install [git-lfs][gitlfslink]. The repository is modified regularly, and git-lfs works faster with large binary files. +In order to handle this repository it is advisted to install [git-lfs][gitlfslink]. The repository is modified regularly, and git-lfs works faster with large binary files. -To clone the repository, __go to the main CARLA directory__ and run the following command. +To clone the repository, __go to the main CARLA directory__ and run the following command. ```sh git clone https://bitbucket.org/carla-simulator/carla-content Unreal/CarlaUE4/Content/Carla ``` !!! Warning - Delete the `/Carla` folder containing the assets before cloning the repository. Otherwise, an error will show. + Delete the `/Carla` folder containing the assets before cloning the repository. Otherwise, an error will show. [contentrepolink]: https://bitbucket.org/carla-simulator/carla-content [gitlfslink]: https://github.com/git-lfs/git-lfs/wiki/Installation diff --git a/Docs/download.md b/Docs/download.md index 28583453b..e90c845c8 100644 --- a/Docs/download.md +++ b/Docs/download.md @@ -10,10 +10,10 @@ > branch. It contains the very latest fixes and features that will be part of the > next release, but also some experimental changes. Use at your own risk! -- [CARLA Nightly Build (Linux)](https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/Dev/CARLA_Latest.tar.gz) -- [AdditionalMaps Nightly Build (Linux)](https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/Dev/AdditionalMaps_Latest.tar.gz) -- [CARLA Nightly Build (Windows)](https://carla-releases.s3.eu-west-3.amazonaws.com/Windows/Dev/CARLA_Latest.zip) -- [AdditionalMaps Nightly Build (Windows)](https://carla-releases.s3.eu-west-3.amazonaws.com/Windows/Dev/AdditionalMaps_Latest.zip) +- [CARLA Nightly Build (Linux)](https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/Dev/CARLA_Latest.tar.gz) +- [AdditionalMaps Nightly Build (Linux)](https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/Dev/AdditionalMaps_Latest.tar.gz) +- [CARLA Nightly Build (Windows)](https://carla-releases.s3.us-east-005.backblazeb2.com/Windows/Dev/CARLA_Latest.zip) +- [AdditionalMaps Nightly Build (Windows)](https://carla-releases.s3.us-east-005.backblazeb2.com/Windows/Dev/AdditionalMaps_Latest.zip) ### Versions 0.9.x diff --git a/Docs/tuto_content_authoring_vehicles.md b/Docs/tuto_content_authoring_vehicles.md index abd54abc9..764a6179c 100644 --- a/Docs/tuto_content_authoring_vehicles.md +++ b/Docs/tuto_content_authoring_vehicles.md @@ -1,36 +1,36 @@ # Content authoring - vehicles -CARLA provides a comprehensive set of vehicles out of the box in the blueprint library. CARLA allows the user to expand upon this with custom vehicles for maximum extensibility. +CARLA provides a comprehensive set of vehicles out of the box in the blueprint library. CARLA allows the user to expand upon this with custom vehicles for maximum extensibility. 3D modelling of detailed vehicles is highly complex and requires a significant degree of skill. We therefore refer the reader to alternative sources of documentation on 3D modelling, since this is beyond the scope of this guide. There are, however, numerous sources of vehicle models in both free and proprietary online repositories. Hence the user has many options to turn to for creating custom vehicles for use in CARLA. The key factors in preparing a custom vehicle for CARLA lie in rigging the vehicle armature and then importing into the Unreal Engine. After rigging and importing, blueprints need to be set for the car and the wheels. Then apply materials and add the glass parts of the vehicle. We will cover these steps in the following guide. -* __[Modeling](#modeling)__ - * [Naming conventions](#naming-conventions) -* __[Rigging](#rigging-the-vehicle-using-an-armature)__ - * [Import](#import) +* __[Modeling](#modeling)__ + * [Naming conventions](#naming-conventions) +* __[Rigging](#rigging-the-vehicle-using-an-armature)__ + * [Import](#import) * [Armature](#add-an-armature) * [Parenting](#parenting) - * [Assignment](#assigning-car-parts-to-bones) + * [Assignment](#assigning-car-parts-to-bones) * [Blender add-on](#blender-ue4-vehicle-rigging-add-on) - * [Export](#export) -* __[Import into Unreal Engine](#importing-into-unreal-engine)__ - * [Physics asset](#setting-the-physics-asset) + * [Export](#export) +* __[Import into Unreal Engine](#importing-into-unreal-engine)__ + * [Physics asset](#setting-the-physics-asset) * [Animation](#creating-the-animation) * [Blueprint](#creating-the-blueprint) -* __[Materials](#materials)__ +* __[Materials](#materials)__ * [Applying materials](#applying-a-material-to-your-vehicle) * [Color](#color) * [Clear coat](#clear-coat) * [Orange peel](#orange-peel) * [Flakes](#flakes) * [Dust](#dust) -* __[Glass](#glass)__ +* __[Glass](#glass)__ * [Glass meshes](#glass-meshes) * [Glass material](#glass-material) * [Single layer glass](#single-layer-glass) -* __[Wheels](#wheels)__ +* __[Wheels](#wheels)__ * [Wheel blueprint](#wheel-blueprint) * [Collision mesh](#collision-mesh) * [Tire configuration](#tire-configuration) @@ -41,7 +41,7 @@ The key factors in preparing a custom vehicle for CARLA lie in rigging the vehic ## Modeling -Vehicles should have between 50,000 and 100,000 faces. We recommend triangulating the model prior to export as best practice. CARLA vehicles are modeled using the size and scale of actual cars as reference. Please ensure you pay careful attention to the units of your 3D application. Some work in centimeters while others work in meters. +Vehicles should have between 50,000 and 100,000 faces. We recommend triangulating the model prior to export as best practice. CARLA vehicles are modeled using the size and scale of actual cars as reference. Please ensure you pay careful attention to the units of your 3D application. Some work in centimeters while others work in meters. ### Naming conventions @@ -53,7 +53,7 @@ For ease and consistency we recommend that you divide the vehicle into the follo - __Lights__: Headlights, indicator lights, etc. - __LightGlass_Ext__: A layer of glass that allows visibility from the outside to the inside of the light. - __LightGlass_Int__: A layer of glass that allows visibility from the inside to the outside of the light. -- __LicensePlate__: A rectangular plane of 29x12 cm. You can use the CARLA provided `.fbx` for best results, download it [here](https://carla-assets.s3.eu-west-3.amazonaws.com/fbx/LicensePlate.rar). The texture will be assigned automatically in Unreal Engine. +- __LicensePlate__: A rectangular plane of 29x12 cm. You can use the CARLA provided `.fbx` for best results, download it [here](https://carla-assets.s3.us-east-005.backblazeb2.com/fbx/LicensePlate.rar). The texture will be assigned automatically in Unreal Engine. - __Interior__: Any other details that don't fit in the above sections can go into _Interior_. Materials should be named using the format `M_CarPart_CarName`, e.g, `M_Bodywork_Mustang`. @@ -62,11 +62,11 @@ Textures should be named using the format `T_CarPart_CarName`, e.g, `T_Bodywork_ ## Rigging the vehicle using an armature -To look realistic within the simulation, the car needs to have rotating and wheels, the front pair of which can turn with steering inputs. Therefore to prepare a vehicle for CARLA, an armature needs to be rigged to the car to identify the wheels and allow their movement. +To look realistic within the simulation, the car needs to have rotating and wheels, the front pair of which can turn with steering inputs. Therefore to prepare a vehicle for CARLA, an armature needs to be rigged to the car to identify the wheels and allow their movement. -### Import +### Import -Import or model the vehicle model mesh in your 3D modelling application. In this guide we will use Blender 3D. Ensure that the wheels are separable from the main body. Each wheel must be accessible as a distinct object. +Import or model the vehicle model mesh in your 3D modelling application. In this guide we will use Blender 3D. Ensure that the wheels are separable from the main body. Each wheel must be accessible as a distinct object. ![model_in_blender](img/tuto_content_authoring_vehicles/import_model_blender.png) @@ -74,23 +74,23 @@ It is important to ensure that the vehicle faces in the positive X direction, so ### Add an armature -Now add an armature to the center of the vehicle, ensure the object is properly centered, the root of the armature bone should be set at the origin. Switch to edit mode and rotate the armature 90 around the x axis. +Now add an armature to the center of the vehicle, ensure the object is properly centered, the root of the armature bone should be set at the origin. Switch to edit mode and rotate the armature 90 around the x axis. ![armature_init](img/tuto_content_authoring_vehicles/vehicle_base_bone.png) -Now select the armature and add 4 more bones. Each of these bones needs to be located such that the root of the bone coincides with the centre of the each wheel. This can be achieved by locating the 3D cursor at the center of each wheel in edit mode. Select one of the wheels in object mode, select a vertex, press A to select all vertices then `Shift+S` and select `Cursor to selected`. This will locate the cursor in the center of the wheel. Then, in object mode, select the armature, switch to edit mode, select a bone and choose `Selection to cursor`. Your bone will now coincide with the wheel. Rotate each bone such that it lines up with the base of the armature. +Now select the armature and add 4 more bones. Each of these bones needs to be located such that the root of the bone coincides with the centre of the each wheel. This can be achieved by locating the 3D cursor at the center of each wheel in edit mode. Select one of the wheels in object mode, select a vertex, press A to select all vertices then `Shift+S` and select `Cursor to selected`. This will locate the cursor in the center of the wheel. Then, in object mode, select the armature, switch to edit mode, select a bone and choose `Selection to cursor`. Your bone will now coincide with the wheel. Rotate each bone such that it lines up with the base of the armature. -For each wheel, it is recommended to name the bone according to the wheel it needs to be coupled to, this will help in identification later when you need to assign vertex groups to each bone. +For each wheel, it is recommended to name the bone according to the wheel it needs to be coupled to, this will help in identification later when you need to assign vertex groups to each bone. ![armature_full](img/tuto_content_authoring_vehicles/all_vehicle_bones.png) -### Parenting +### Parenting -Now select all the parts of the body and all 4 wheels using shift or control in the project outliner, then control select the armature you have created (this order is important, it won't work if you select these in reverse order). Press `Ctrl+p` and select `With empty groups` to bind the mesh to the armature. +Now select all the parts of the body and all 4 wheels using shift or control in the project outliner, then control select the armature you have created (this order is important, it won't work if you select these in reverse order). Press `Ctrl+p` and select `With empty groups` to bind the mesh to the armature. ![bind_armature](img/tuto_content_authoring_vehicles/bind_armature.gif) -Now you have parented the mesh to the armature, you now need to assign each wheel to its respective bone. Select a wheel either in the outliner or the editor. Switch to edit mode, and select all the vertices of the wheel (shortcut - `a`). +Now you have parented the mesh to the armature, you now need to assign each wheel to its respective bone. Select a wheel either in the outliner or the editor. Switch to edit mode, and select all the vertices of the wheel (shortcut - `a`). ### Assigning car parts to bones @@ -108,9 +108,9 @@ There is a very useful add on for blender for rigging a vehicle for import into ### Export -Now we will export our rigged model into FBX format for import into Unreal Engine. Select `Export > FBX (.fbx)` from the File menu. In the `Object Types` section of the `Include` panel, shift select the `Armature` and `Mesh` options. +Now we will export our rigged model into FBX format for import into Unreal Engine. Select `Export > FBX (.fbx)` from the File menu. In the `Object Types` section of the `Include` panel, shift select the `Armature` and `Mesh` options. -In the `Transform` panel. Change `Forward` to `X Forward` and change `Up` to `Z Up`. This is important to ensure the vehicle is oriented correctly in the Unreal Engine. +In the `Transform` panel. Change `Forward` to `X Forward` and change `Up` to `Z Up`. This is important to ensure the vehicle is oriented correctly in the Unreal Engine. In the `Armature` section uncheck `Add Leaf Bones` and uncheck `Bake Animation`. @@ -118,7 +118,7 @@ In the `Armature` section uncheck `Add Leaf Bones` and uncheck `Bake Animation`. ## Importing into unreal engine -Launch the Unreal Editor with the `make launch` command from the CARLA root directory (the one where you have built CARLA from source). Open a content browser, set up an appropriate directory and right click and select `Import to ....`. Choose the FBX file that you previously exported from Blender (or another 3D modelling application). Import with default settings. +Launch the Unreal Editor with the `make launch` command from the CARLA root directory (the one where you have built CARLA from source). Open a content browser, set up an appropriate directory and right click and select `Import to ....`. Choose the FBX file that you previously exported from Blender (or another 3D modelling application). Import with default settings. ### Setting the physics asset @@ -130,7 +130,7 @@ First, select the main body, in the `Details` menu on the right, change the `Lin ![physics_details](img/tuto_content_authoring_vehicles/physics_details.png) -Now select all the wheels (in the `Skeleton Tree` section on the left). +Now select all the wheels (in the `Skeleton Tree` section on the left). ![regenerate_wheels](img/tuto_content_authoring_vehicles/wheels_asset.png) @@ -170,7 +170,7 @@ Select the `Vehicles` node and expand the `Vehicles` item in the `Default value` ![vehicle_factory](img/tuto_content_authoring_vehicles/vehicle_factory_page.png) -Press the plus icon to add your new vehicle. Scroll down to the last entry and expand it, it should be empty. Name the make and model of your vehicle and under the class section find your blueprint class that you created in the previous section. Leave the number of wheels as 4 and put the generation as 2. Compile and save. Do a global save for safety and you are now..ready to run your vehicle in a simulation. +Press the plus icon to add your new vehicle. Scroll down to the last entry and expand it, it should be empty. Name the make and model of your vehicle and under the class section find your blueprint class that you created in the previous section. Leave the number of wheels as 4 and put the generation as 2. Compile and save. Do a global save for safety and you are now..ready to run your vehicle in a simulation. Press play in the unreal toolbar to run the simulation. Once it is running, open a terminal and run the `manual_control.py` script with the filter option to specify your new vehicle model: @@ -185,13 +185,13 @@ As it is, the vehicle currently has no textures or colors applied. The next step Once you have your vehicle imported as a basic asset with the mesh and blueprints laid out, you now want to add materials to your vehicle to facilitate photorealistic rendering in the Unreal Engine, for maximum fidelity in your machine learning training data. -The Unreal Editor boasts a comprehensive materials workflow that facilitates the creation of highly realistic materials. This does, however, add a significant degree of complexity to the process. For this reason, CARLA is provided with a large library of material prototypes for you to use without having to start from scratch. +The Unreal Editor boasts a comprehensive materials workflow that facilitates the creation of highly realistic materials. This does, however, add a significant degree of complexity to the process. For this reason, CARLA is provided with a large library of material prototypes for you to use without having to start from scratch. ### Applying a material to your vehicle CARLA provides a prototype material for replicating the glossy finish of vehicles that can mimic numerous different types of vehicle paint jobs and features. Open Unreal editor and in the content browser, locate the material in `Content > Carla > Static > GenericMaterials > 00_MastersOpt`. The basic material is called `M_CarPaint_Master`. Right click on this material and choose `Create Material Instance` from the context material. Name it and move it into the folder where your new vehicle content is stored. -In the Unreal Editor, move the spectator to a point near the floor and drag the skeletal mesh of the vehicle from the content browser into the scene, the body of your vehicle will now appear there. +In the Unreal Editor, move the spectator to a point near the floor and drag the skeletal mesh of the vehicle from the content browser into the scene, the body of your vehicle will now appear there. ![add_model](img/tuto_content_authoring_vehicles/add_model.gif) @@ -207,7 +207,7 @@ The color settings govern the overall color of the car. The base color is simply ![change_base_color](img/tuto_content_authoring_vehicles/change_base_color.gif) -#### __Clear coat__ +#### __Clear coat__ The clear coat settings govern the appearance of the finish and how it reacts to light. The roughness uses a texture to apply imperfections to the vehicle surface, scattering light more with higher values to create a matte look. Subtle adjustments and low values are recommended for a realistic look. Generally, car paint jobs are smooth and reflective, however, this effect might be used more generously to model specialist matte finishes of custom paint jobs. @@ -215,7 +215,7 @@ The clear coat settings govern the appearance of the finish and how it reacts to An important parameter to govern the "shininess" or "glossiness" of your car is the `Clear Coat Intensity`. High values close to 1 will make the coat shiny and glossy. -#### __Orange peel__ +#### __Orange peel__ Finishes on real cars (particularly on mass produced cars for the general market) tend to have imperfections that appear as slight ripples in the paint. The orange peel effect mimics this and makes cars look more realistic. @@ -223,13 +223,13 @@ Finishes on real cars (particularly on mass produced cars for the general market #### __Flakes__ -Some cars have paint jobs that include flakes of other material, such as metals or ceramics, to give the car a `metallic` or `pearlescant` appearance, adding extra glints and reflections that react in an attractive way to light. The flakes parameters allows CARLA to mimic this. To mimic metallic finishes, it would be +Some cars have paint jobs that include flakes of other material, such as metals or ceramics, to give the car a `metallic` or `pearlescant` appearance, adding extra glints and reflections that react in an attractive way to light. The flakes parameters allows CARLA to mimic this. To mimic metallic finishes, it would be ![flakes](img/tuto_content_authoring_vehicles/flakes.gif) #### __Dust__ -Cars often accumulate grease and dust on the body that adds additional texture to the paint, affecting the way it reflects the light. The dust parameters allow you to add patches of disruption to the coat to mimic foreign materials sticking to the paint. +Cars often accumulate grease and dust on the body that adds additional texture to the paint, affecting the way it reflects the light. The dust parameters allow you to add patches of disruption to the coat to mimic foreign materials sticking to the paint. ![dust](img/tuto_content_authoring_vehicles/change_dust.gif) @@ -245,15 +245,15 @@ Here we see the glass parts attached to the main bodywork (not the doors or othe ![main_glass](img/tuto_content_authoring_vehicles/glass.png) -If we separate the constituent mesh parts, we can see that the glass profile is separated into 4 different layers. +If we separate the constituent mesh parts, we can see that the glass profile is separated into 4 different layers. ![main_glass_expanded](img/tuto_content_authoring_vehicles/glass_expanded.png) -The 4 layers are separated into 2 groups, the exterior layers, with normals facing out of the vehicle and the interior layers, with mesh normals facing into the vehicle interior. The following diagram demonstrates +The 4 layers are separated into 2 groups, the exterior layers, with normals facing out of the vehicle and the interior layers, with mesh normals facing into the vehicle interior. The following diagram demonstrates ![glass_layers](img/tuto_content_authoring_vehicles/glass_layers.png) -Once you have created your mesh layers, import them in the content browser into the Unreal Editor in the folder where you have stored your vehicle. +Once you have created your mesh layers, import them in the content browser into the Unreal Editor in the folder where you have stored your vehicle. Shift select the 4 glass layers and drag them into the map so you can see them. @@ -288,7 +288,7 @@ For the wheels of CARLA vehicles, we need to set up a blueprint class for each w ### Wheel blueprint -Inside the folder where you have your new vehicle, right click and choose to create a new blueprint class. Search for +Inside the folder where you have your new vehicle, right click and choose to create a new blueprint class. Search for ![wheel_blueprint](img/tuto_content_authoring_vehicles/wheel_blueprint.png) @@ -298,12 +298,12 @@ Double click on the blueprint to adjust it: ### Collision mesh -Firstly, the default cylinder used for the collision mesh has a high polygon count, so we should replace this with a low polygon version. In the content browser locate the `CollisionWheel` mesh inside `Content > Carla > Blueprints > Vehicles`. Drag it onto the +Firstly, the default cylinder used for the collision mesh has a high polygon count, so we should replace this with a low polygon version. In the content browser locate the `CollisionWheel` mesh inside `Content > Carla > Blueprints > Vehicles`. Drag it onto the `Collision Mesh` slot in the details panel of the blueprint. This will improve performance without any noticeable deficit to physics simulation. ### Tire configuration -Next, we set the tire configuration. Inside `Content > Carla > Blueprints > Vehicles` locate the `CommonTireConfig` configuration and drag it onto the `Tire Config` section of the blueprint. If you double click on the Tire Config in the blueprint, you can adjust the Friction Scale, you can modify the behavior of the vehicle's road handling. By default it is set at 3.5, a value suitable for most vehicle use cases. However, if you wish to model for example a racing vehicle with slick tires, this would be the appropriate parameter to adjust. +Next, we set the tire configuration. Inside `Content > Carla > Blueprints > Vehicles` locate the `CommonTireConfig` configuration and drag it onto the `Tire Config` section of the blueprint. If you double click on the Tire Config in the blueprint, you can adjust the Friction Scale, you can modify the behavior of the vehicle's road handling. By default it is set at 3.5, a value suitable for most vehicle use cases. However, if you wish to model for example a racing vehicle with slick tires, this would be the appropriate parameter to adjust. ### Wheel dimensions @@ -316,24 +316,24 @@ Now plug these numbers into the `Wheel` section of the blueprint.Take care to re ![bp_wheel_dimensions](img/tuto_content_authoring_vehicles/bp_wheel_dimensions.png) -`Affected by handbrake` should be checked for both rear wheels. +`Affected by handbrake` should be checked for both rear wheels. `Steer angle` should be set to the maximum intended steer angle for both front wheels and set to zero for both rear wheels. ### __Suspension characteristics__ -The default values here provide a reasonable starting point. View [__this guide__](tuto_D_customize_vehicle_suspension.md) to set suspension characteristics appropriate to your vehicle type. +The default values here provide a reasonable starting point. View [__this guide__](tuto_D_customize_vehicle_suspension.md) to set suspension characteristics appropriate to your vehicle type. ## Lights -The last element to complete a realistic vehicle for CARLA is the lights, headlights, brake lights, blinkers etc. In your 3D modelling application, you should model some shapes that resemble the lights of the vehicle you are replicating. This would be flat discs or flat cuboid structures for most headlights. Some vehicles may also have strips of LEDs. +The last element to complete a realistic vehicle for CARLA is the lights, headlights, brake lights, blinkers etc. In your 3D modelling application, you should model some shapes that resemble the lights of the vehicle you are replicating. This would be flat discs or flat cuboid structures for most headlights. Some vehicles may also have strips of LEDs. ![lights_blender](img/tuto_content_authoring_vehicles/lights_blender.png) ### UV map -The different types of lights (headlights, blinkers, brake lights, etc.) are distinguished using a texture. You need to create a UV map in your 3D modelling application and position the lights to match up with the relevant region of the texture. +The different types of lights (headlights, blinkers, brake lights, etc.) are distinguished using a texture. You need to create a UV map in your 3D modelling application and position the lights to match up with the relevant region of the texture. ![lights_uv](img/tuto_content_authoring_vehicles/lights_uv_map.png) diff --git a/Docs/tutorials.md b/Docs/tutorials.md index c09204d82..602c99eaf 100644 --- a/Docs/tutorials.md +++ b/Docs/tutorials.md @@ -1,45 +1,45 @@ # Tutorials -Here you will find the multitude of tutorials available to help you understand how to use CARLA's many features. +Here you will find the multitude of tutorials available to help you understand how to use CARLA's many features. ## General ### CARLA features -[__Retrieve simulation data__](tuto_G_retrieve_data.md) — A step by step guide to properly gather data using the recorder. -[__Traffic manager__](tuto_G_traffic_manager.md) — How to use traffic manager to guide traffic around your town. -[__Texture streaming__](tuto_G_texture_streaming.md) — Modify textures of map objects in real time to add variation. -[__Instance segmentation camera__](tuto_G_instance_segmentation_sensor.md) — Use an instance segmentation camera to distinguish objects of the same class. -[__Bounding boxes__](tuto_G_bounding_boxes.md) — Project bounding boxes from CARLA objects into the camera. -[__Pedestrian bones__](tuto_G_pedestrian_bones.md) — Project pedestrian skeleton into camera plane. -[__Control walker skeletons__](tuto_G_control_walker_skeletons.md) — Animate walkers using skeletons. +[__Retrieve simulation data__](tuto_G_retrieve_data.md) — A step by step guide to properly gather data using the recorder. +[__Traffic manager__](tuto_G_traffic_manager.md) — How to use traffic manager to guide traffic around your town. +[__Texture streaming__](tuto_G_texture_streaming.md) — Modify textures of map objects in real time to add variation. +[__Instance segmentation camera__](tuto_G_instance_segmentation_sensor.md) — Use an instance segmentation camera to distinguish objects of the same class. +[__Bounding boxes__](tuto_G_bounding_boxes.md) — Project bounding boxes from CARLA objects into the camera. +[__Pedestrian bones__](tuto_G_pedestrian_bones.md) — Project pedestrian skeleton into camera plane. +[__Control walker skeletons__](tuto_G_control_walker_skeletons.md) — Animate walkers using skeletons. ### Building and integration -[__Build Unreal Engine and CARLA in Docker__](build_docker_unreal.md) — Build Unreal Engine and CARLA in Docker. -[__CarSim Integration__](tuto_G_carsim_integration.md) — Tutorial on how to run a simulation using the CarSim vehicle dynamics engine. -[__RLlib Integration__](tuto_G_rllib_integration.md) — Find out how to run your own experiment using the RLlib library. -[__Chrono Integration__](tuto_G_chrono.md) — Use the Chrono integration to simulation physics. -[__PyGame control__](tuto_G_pygame.md) — Use PyGame to display the output of camera sensors. +[__Build Unreal Engine and CARLA in Docker__](build_docker_unreal.md) — Build Unreal Engine and CARLA in Docker. +[__CarSim Integration__](tuto_G_carsim_integration.md) — Tutorial on how to run a simulation using the CarSim vehicle dynamics engine. +[__RLlib Integration__](tuto_G_rllib_integration.md) — Find out how to run your own experiment using the RLlib library. +[__Chrono Integration__](tuto_G_chrono.md) — Use the Chrono integration to simulation physics. +[__PyGame control__](tuto_G_pygame.md) — Use PyGame to display the output of camera sensors. ## Assets and maps -[__Generate maps with OpenStreetMap__](tuto_G_openstreetmap.md) — Use OpenStreetMap to generate maps for use in simulations. -[__Add a new vehicle__](tuto_A_add_vehicle.md) — Prepare a vehicle to be used in CARLA. -[__Add new props__](tuto_A_add_props.md) — Import additional props into CARLA. -[__Create standalone packages__](tuto_A_create_standalone.md) — Generate and handle standalone packages for assets. -[__Material customization__](tuto_A_material_customization.md) — Edit vehicle and building materials. +[__Generate maps with OpenStreetMap__](tuto_G_openstreetmap.md) — Use OpenStreetMap to generate maps for use in simulations. +[__Add a new vehicle__](tuto_A_add_vehicle.md) — Prepare a vehicle to be used in CARLA. +[__Add new props__](tuto_A_add_props.md) — Import additional props into CARLA. +[__Create standalone packages__](tuto_A_create_standalone.md) — Generate and handle standalone packages for assets. +[__Material customization__](tuto_A_material_customization.md) — Edit vehicle and building materials. ## Developers -[__How to upgrade content__](tuto_D_contribute_assets.md) — Add new content to CARLA. -[__Create a sensor__](tuto_D_create_sensor.md) — Develop a new sensor to be used in CARLA. -[__Create semantic tags__](tuto_D_create_semantic_tags.md) — Define customized tags for semantic segmentation. -[__Customize vehicle suspension__](tuto_D_customize_vehicle_suspension.md) — Modify the suspension system of a vehicle. -[__Generate detailed colliders__](tuto_D_generate_colliders.md) — Create detailed colliders for vehicles. +[__How to upgrade content__](tuto_D_contribute_assets.md) — Add new content to CARLA. +[__Create a sensor__](tuto_D_create_sensor.md) — Develop a new sensor to be used in CARLA. +[__Create semantic tags__](tuto_D_create_semantic_tags.md) — Define customized tags for semantic segmentation. +[__Customize vehicle suspension__](tuto_D_customize_vehicle_suspension.md) — Modify the suspension system of a vehicle. +[__Generate detailed colliders__](tuto_D_generate_colliders.md) — Create detailed colliders for vehicles. [__Make a release__](tuto_D_make_release.md) — How to make a release of CARLA ## Video tutorials -[__Fundamentals__](https://www.youtube.com/watch?v=pONr1R1dy88) — Learn the fundamental concepts of CARLA and start your first script. [__CODE__](https://carla-releases.s3.eu-west-3.amazonaws.com/Docs/Fundamentals.ipynb) -[__An in depth look at CARLA's sensors__](https://www.youtube.com/watch?v=om8klsBj4rc) — An in depth look at CARLA's sensors and how to use them. [__CODE__](https://carla-releases.s3.eu-west-3.amazonaws.com/Docs/Sensors_code.zip) +[__Fundamentals__](https://www.youtube.com/watch?v=pONr1R1dy88) — Learn the fundamental concepts of CARLA and start your first script. [__CODE__](https://carla-releases.s3.us-east-005.backblazeb2.com/Docs/Fundamentals.ipynb) +[__An in depth look at CARLA's sensors__](https://www.youtube.com/watch?v=om8klsBj4rc) — An in depth look at CARLA's sensors and how to use them. [__CODE__](https://carla-releases.s3.us-east-005.backblazeb2.com/Docs/Sensors_code.zip) diff --git a/README.md b/README.md index eaad3df72..0ab8fc1a1 100644 --- a/README.md +++ b/README.md @@ -19,17 +19,17 @@ environmental conditions. ### Download CARLA Linux: -* [**Get CARLA overnight build**](http://carla-releases.s3.amazonaws.com/Linux/Dev/CARLA_Latest.tar.gz) -* [**Get AdditionalMaps overnight build**](http://carla-releases.s3.amazonaws.com/Linux/Dev/AdditionalMaps_Latest.tar.gz) +* [**Get CARLA overnight build**](https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/Dev/CARLA_Latest.tar.gz) +* [**Get AdditionalMaps overnight build**](https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/Dev/AdditionalMaps_Latest.tar.gz) Windows: -* [**Get CARLA overnight build**](http://carla-releases.s3.amazonaws.com/Windows/Dev/CARLA_Latest.zip) -* [**Get AdditionalMaps overnight build**](http://carla-releases.s3.amazonaws.com/Windows/Dev/AdditionalMaps_Latest.zip) +* [**Get CARLA overnight build**](https://carla-releases.s3.us-east-005.backblazeb2.com/Windows/Dev/CARLA_Latest.zip) +* [**Get AdditionalMaps overnight build**](https://carla-releases.s3.us-east-005.backblazeb2.com/Windows/Dev/AdditionalMaps_Latest.zip) ### Recommended system * Intel i7 gen 9th - 11th / Intel i9 gen 9th - 11th / AMD ryzen 7 / AMD ryzen 9 -* +32 GB RAM memory +* +32 GB RAM memory * NVIDIA RTX 3070 / NVIDIA RTX 3080 / NVIDIA RTX 4090 * Ubuntu 20.04 @@ -54,7 +54,7 @@ Repositories associated with the CARLA simulation platform: * [**Conditional Imitation-Learning**](https://github.com/felipecode/coiltraine): Training and testing Conditional Imitation Learning models in CARLA * [**AutoWare AV stack**](https://github.com/carla-simulator/carla-autoware): Bridge to connect AutoWare AV stack to CARLA * [**Reinforcement-Learning**](https://github.com/carla-simulator/reinforcement-learning): Code for running Conditional Reinforcement Learning models in CARLA -* [**RoadRunner**](https://www.mathworks.com/products/roadrunner.html): MATLAB GUI based application to create road networks in OpenDrive format +* [**RoadRunner**](https://www.mathworks.com/products/roadrunner.html): MATLAB GUI based application to create road networks in OpenDrive format * [**Map Editor**](https://github.com/carla-simulator/carla-map-editor): Standalone GUI application to enhance RoadRunner maps with traffic lights and traffic signs information diff --git a/Update.bat b/Update.bat index 36e8f15a8..30a6ccb52 100644 --- a/Update.bat +++ b/Update.bat @@ -19,7 +19,7 @@ for /F "delims=" %%a in (%CONTENT_VERSIONS%) do ( set "lastLine=%%a" ) set CONTENT_ID=%lastLine:~-16,16% -set CONTENT_LINK=http://carla-assets.s3.amazonaws.com/%CONTENT_ID%.tar.gz +set CONTENT_LINK=http://carla-assets.s3.us-east-005.backblazeb2.com/%CONTENT_ID%.tar.gz if "%CONTENT_ID:~0,2%"=="20" ( set CONTENT_FILE=%CONTENT_FOLDER%/%CONTENT_ID%.tar.gz set CONTENT_FILE_TAR=%CONTENT_FOLDER%/%CONTENT_ID%.tar diff --git a/Update.sh b/Update.sh index 72ed63907..58d8a1999 100755 --- a/Update.sh +++ b/Update.sh @@ -47,7 +47,7 @@ pushd "$SCRIPT_DIR" >/dev/null CONTENT_FOLDER="${SCRIPT_DIR}/Unreal/CarlaUE4/Content/Carla" CONTENT_ID=$(tac $SCRIPT_DIR/Util/ContentVersions.txt | egrep -m 1 . | rev | cut -d' ' -f1 | rev) -CONTENT_LINK=http://carla-assets.s3.amazonaws.com/${CONTENT_ID}.tar.gz +CONTENT_LINK=http://carla-assets.s3.us-east-005.backblazeb2.com/${CONTENT_ID}.tar.gz VERSION_FILE="${CONTENT_FOLDER}/.version" diff --git a/Util/BuildTools/Setup.bat b/Util/BuildTools/Setup.bat index 46eac87e5..344f2bb08 100644 --- a/Util/BuildTools/Setup.bat +++ b/Util/BuildTools/Setup.bat @@ -367,7 +367,7 @@ FOR /F "usebackq tokens=1,2" %%i in ("%VERSION_FILE%") do ( set ASSETS_VERSION=%%i set HASH=%%j ) -set URL=http://carla-assets.s3.amazonaws.com/%HASH%.tar.gz +set URL=http://carla-assets.s3.us-east-005.backblazeb2.com/%HASH%.tar.gz rem ============================================================================ rem -- Generate CMake ---------------------------------------------------------- diff --git a/Util/BuildTools/Setup.sh b/Util/BuildTools/Setup.sh index 9aa65533b..5277db2ac 100755 --- a/Util/BuildTools/Setup.sh +++ b/Util/BuildTools/Setup.sh @@ -95,7 +95,7 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do # try to use the backup boost we have in Jenkins if [[ ! -f "${BOOST_PACKAGE_BASENAME}.tar.gz" ]] ; then log "Using boost backup" - wget "https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/${BOOST_PACKAGE_BASENAME}.tar.gz" || true + wget "https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/${BOOST_PACKAGE_BASENAME}.tar.gz" || true fi log "Extracting boost for Python ${PY_VERSION}." @@ -392,7 +392,7 @@ else # try to use the backup boost we have in Jenkins if [[ ! -f "${XERCESC_BASENAME}.tar.gz" ]] ; then log "Using xerces backup" - wget "https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/${XERCESC_BASENAME}.tar.gz" || true + wget "https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/${XERCESC_BASENAME}.tar.gz" || true fi log "Extracting xerces-c." diff --git a/Util/ContentVersions.txt b/Util/ContentVersions.txt index f664bd4a2..9489f8087 100644 --- a/Util/ContentVersions.txt +++ b/Util/ContentVersions.txt @@ -25,7 +25,7 @@ # # You can download it directly from # -# http://carla-assets.s3.amazonaws.com/PUT_FILE_ID_HERE.tar.gz +# http://carla-assets.s3.us-east-005.backblazeb2.com/PUT_FILE_ID_HERE.tar.gz 0.9.5: 20190404_c7b464a 0.9.6: 20190710_0097e66 diff --git a/Util/CreateDebian.sh b/Util/CreateDebian.sh index 04664aeb1..3dcc7d941 100755 --- a/Util/CreateDebian.sh +++ b/Util/CreateDebian.sh @@ -28,8 +28,8 @@ fi CARLA_VERSION=$1 CARLA_DIR=carla-simulator-${CARLA_VERSION} -CARLA_RELEASE_URL=https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_${CARLA_VERSION}.tar.gz -ADDITIONAL_MAPS_URL=https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/AdditionalMaps_${CARLA_VERSION}.tar.gz +CARLA_RELEASE_URL=https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/CARLA_${CARLA_VERSION}.tar.gz +ADDITIONAL_MAPS_URL=https://carla-releases.s3.us-east-005.backblazeb2.com/Linux/AdditionalMaps_${CARLA_VERSION}.tar.gz # Adding maintainer name. DEBFULLNAME=Carla\ Simulator\ Team diff --git a/Util/InstallersWin/install_boost.bat b/Util/InstallersWin/install_boost.bat index bcefaa72d..441ece291 100644 --- a/Util/InstallersWin/install_boost.bat +++ b/Util/InstallersWin/install_boost.bat @@ -91,7 +91,7 @@ if not exist "%BOOST_SRC_DIR%" ( ) if not exist "%BOOST_TEMP_FILE_DIR%" ( echo %FILE_N% Using Boost backup - powershell -Command "(New-Object System.Net.WebClient).DownloadFile('https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/%BOOST_TEMP_FILE%', '%BOOST_TEMP_FILE_DIR%')" + powershell -Command "(New-Object System.Net.WebClient).DownloadFile('https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/%BOOST_TEMP_FILE%', '%BOOST_TEMP_FILE_DIR%')" ) if %errorlevel% neq 0 goto error_download echo %FILE_N% Extracting boost from "%BOOST_TEMP_FILE%", this can take a while... diff --git a/Util/InstallersWin/install_libpng.bat b/Util/InstallersWin/install_libpng.bat index 383def190..fa26dc0df 100644 --- a/Util/InstallersWin/install_libpng.bat +++ b/Util/InstallersWin/install_libpng.bat @@ -81,7 +81,7 @@ if not exist "%LIBPNG_SRC_DIR%" ( ) if not exist "%LIBPNG_TEMP_FILE_DIR%" ( echo %FILE_N% Using %LIBPNG_BASENAME% from backup. - powershell -Command "(New-Object System.Net.WebClient).DownloadFile('https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/libpng-%LIBPNG_VERSION%-src.zip', '%LIBPNG_TEMP_FILE_DIR%')" + powershell -Command "(New-Object System.Net.WebClient).DownloadFile('https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/libpng-%LIBPNG_VERSION%-src.zip', '%LIBPNG_TEMP_FILE_DIR%')" ) if %errorlevel% neq 0 goto error_download rem Extract the downloaded library diff --git a/Util/InstallersWin/install_xercesc.bat b/Util/InstallersWin/install_xercesc.bat index cf7be255b..a99bf1b47 100644 --- a/Util/InstallersWin/install_xercesc.bat +++ b/Util/InstallersWin/install_xercesc.bat @@ -58,7 +58,7 @@ rem ../xerces-c-x.x.x-src.zip set XERCESC_TEMP_FILE_DIR=%BUILD_DIR%%XERCESC_TEMP_FILE% set XERCESC_REPO=https://archive.apache.org/dist/xerces/c/3/sources/xerces-c-%XERCESC_VERSION%.zip -set XERCESC_BACKUP_REPO=https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/xerces-c-%XERCESC_VERSION%.zip +set XERCESC_BACKUP_REPO=https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/xerces-c-%XERCESC_VERSION%.zip rem ../xerces-c-x.x.x-source/ set XERCESC_SRC_DIR=%BUILD_DIR%%XERCESC_BASENAME%-%XERCESC_VERSION%-source\ @@ -93,7 +93,7 @@ if not exist "%XERCESC_SRC_DIR%" ( del "%XERCESC_TEMP_FILE_DIR%" echo %FILE_N% Removing dir "%BUILD_DIR%manifest" rmdir /s/q "%BUILD_DIR%manifest" - + echo %FILE_N% Renaming dir %XERCESC_TEMP_FOLDER_DIR% to %XERCESC_BASENAME%-%XERCESC_VERSION%-source rename "%XERCESC_TEMP_FOLDER_DIR%" "%XERCESC_BASENAME%-%XERCESC_VERSION%-source" ) else ( @@ -133,7 +133,7 @@ cmake .. -G %GENERATOR% %PLATFORM%^ "%BUILD_DIR%%XERCESC_BASENAME%-%XERCESC_VERSION%-source" if %errorlevel% neq 0 goto error_cmake -cmake --build . --config Release --target install +cmake --build . --config Release --target install goto success diff --git a/Util/InstallersWin/install_zlib.bat b/Util/InstallersWin/install_zlib.bat index f418293d3..e6bdf2db6 100644 --- a/Util/InstallersWin/install_zlib.bat +++ b/Util/InstallersWin/install_zlib.bat @@ -55,7 +55,7 @@ set ZLIB_TEMP_FILE=%ZLIB_TEMP_FOLDER%.zip set ZLIB_TEMP_FILE_DIR=%BUILD_DIR%%ZLIB_TEMP_FILE% set ZLIB_REPO=https://www.zlib.net/zlib%ZLIB_VERSION:.=%.zip -set ZLIB_BACKUP_REPO=https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/zlib%ZLIB_VERSION:.=%.zip +set ZLIB_BACKUP_REPO=https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/zlib%ZLIB_VERSION:.=%.zip set ZLIB_SRC_DIR=%BUILD_DIR%%ZLIB_BASENAME%-source\ set ZLIB_INSTALL_DIR=%BUILD_DIR%%ZLIB_BASENAME%-install\ From 43a1436c659c5a26bdd9e86d865fb2805ab9f6a1 Mon Sep 17 00:00:00 2001 From: xiaofei <13319202082@163.com> Date: Wed, 13 Dec 2023 10:08:50 +0800 Subject: [PATCH 003/105] Fix GenerateLaneMarksForCenterLine problem --- LibCarla/source/carla/road/MeshFactory.cpp | 37 +++++++++++++++++++--- 1 file changed, 33 insertions(+), 4 deletions(-) diff --git a/LibCarla/source/carla/road/MeshFactory.cpp b/LibCarla/source/carla/road/MeshFactory.cpp index 43eef0617..83cb3f513 100644 --- a/LibCarla/source/carla/road/MeshFactory.cpp +++ b/LibCarla/source/carla/road/MeshFactory.cpp @@ -930,8 +930,23 @@ std::map>> MeshFactory: std::pair edges = lane.GetCornerPositions(s_current, road_param.extra_lane_width); - geom::Vector3D director = edges.second - edges.first; - director /= director.Length(); + geom::Vector3D director; + if (lane.GetWidth(s_current) != 0) { + director = edges.second - edges.first; + director /= director.Length(); + } else { + const std::map & lanes = lane_section.GetLanes(); + for (const auto& lane_pair : lanes) { + if (lane_pair.second.GetWidth(s_current) != 0) { + std::pair another_edge = + lane_pair.second.GetCornerPositions(s_current, road_param.extra_lane_width); + director = another_edge.second - another_edge.first; + director /= director.Length(); + break; + } + } + } + geom::Vector3D endmarking = edges.first + director * lane_mark_info.width; out_mesh.AddVertex(edges.first); @@ -944,8 +959,22 @@ std::map>> MeshFactory: edges = lane.GetCornerPositions(s_current, road_param.extra_lane_width); - director = edges.second - edges.first; - director /= director.Length(); + if (lane.GetWidth(s_current) != 0) { + director = edges.second - edges.first; + director /= director.Length(); + } else { + const std::map & lanes = lane_section.GetLanes(); + for (const auto& lane_pair : lanes) { + if (lane_pair.second.GetWidth(s_current) != 0) { + std::pair another_edge = + lane_pair.second.GetCornerPositions(s_current, road_param.extra_lane_width); + director = another_edge.second - another_edge.first; + director /= director.Length(); + break; + } + } + } + endmarking = edges.first + director * lane_mark_info.width; out_mesh.AddVertex(edges.first); From 60af9139232505cad4cc55fe7b9401c852855e6f Mon Sep 17 00:00:00 2001 From: MattRoweEAIF <125647690+MattRoweEAIF@users.noreply.github.com> Date: Wed, 13 Dec 2023 13:50:28 +0100 Subject: [PATCH 004/105] corrected tutorials page (#7000) --- Docs/tutorials.md | 50 +++++++++++++++++++++++------------------------ 1 file changed, 25 insertions(+), 25 deletions(-) diff --git a/Docs/tutorials.md b/Docs/tutorials.md index 602c99eaf..77c227acb 100644 --- a/Docs/tutorials.md +++ b/Docs/tutorials.md @@ -6,40 +6,40 @@ Here you will find the multitude of tutorials available to help you understand h ### CARLA features -[__Retrieve simulation data__](tuto_G_retrieve_data.md) — A step by step guide to properly gather data using the recorder. -[__Traffic manager__](tuto_G_traffic_manager.md) — How to use traffic manager to guide traffic around your town. -[__Texture streaming__](tuto_G_texture_streaming.md) — Modify textures of map objects in real time to add variation. -[__Instance segmentation camera__](tuto_G_instance_segmentation_sensor.md) — Use an instance segmentation camera to distinguish objects of the same class. -[__Bounding boxes__](tuto_G_bounding_boxes.md) — Project bounding boxes from CARLA objects into the camera. -[__Pedestrian bones__](tuto_G_pedestrian_bones.md) — Project pedestrian skeleton into camera plane. -[__Control walker skeletons__](tuto_G_control_walker_skeletons.md) — Animate walkers using skeletons. +* [__Retrieve simulation data__](tuto_G_retrieve_data.md) — A step by step guide to properly gather data using the recorder. +* [__Traffic manager__](tuto_G_traffic_manager.md) — How to use traffic manager to guide traffic around your town. +* [__Texture streaming__](tuto_G_texture_streaming.md) — Modify textures of map objects in real time to add variation. +* [__Instance segmentation camera__](tuto_G_instance_segmentation_sensor.md) — Use an instance segmentation camera to distinguish objects of the same class. +* [__Bounding boxes__](tuto_G_bounding_boxes.md) — Project bounding boxes from CARLA objects into the camera. +* [__Pedestrian bones__](tuto_G_pedestrian_bones.md) — Project pedestrian skeleton into camera plane. +* [__Control walker skeletons__](tuto_G_control_walker_skeletons.md) — Animate walkers using skeletons. ### Building and integration -[__Build Unreal Engine and CARLA in Docker__](build_docker_unreal.md) — Build Unreal Engine and CARLA in Docker. -[__CarSim Integration__](tuto_G_carsim_integration.md) — Tutorial on how to run a simulation using the CarSim vehicle dynamics engine. -[__RLlib Integration__](tuto_G_rllib_integration.md) — Find out how to run your own experiment using the RLlib library. -[__Chrono Integration__](tuto_G_chrono.md) — Use the Chrono integration to simulation physics. -[__PyGame control__](tuto_G_pygame.md) — Use PyGame to display the output of camera sensors. +* [__Build Unreal Engine and CARLA in Docker__](build_docker_unreal.md) — Build Unreal Engine and CARLA in Docker. +* [__CarSim Integration__](tuto_G_carsim_integration.md) — Tutorial on how to run a simulation using the CarSim vehicle dynamics engine. +* [__RLlib Integration__](tuto_G_rllib_integration.md) — Find out how to run your own experiment using the RLlib library. +* [__Chrono Integration__](tuto_G_chrono.md) — Use the Chrono integration to simulation physics. +* [__PyGame control__](tuto_G_pygame.md) — Use PyGame to display the output of camera sensors. ## Assets and maps -[__Generate maps with OpenStreetMap__](tuto_G_openstreetmap.md) — Use OpenStreetMap to generate maps for use in simulations. -[__Add a new vehicle__](tuto_A_add_vehicle.md) — Prepare a vehicle to be used in CARLA. -[__Add new props__](tuto_A_add_props.md) — Import additional props into CARLA. -[__Create standalone packages__](tuto_A_create_standalone.md) — Generate and handle standalone packages for assets. -[__Material customization__](tuto_A_material_customization.md) — Edit vehicle and building materials. +* [__Generate maps with OpenStreetMap__](tuto_G_openstreetmap.md) — Use OpenStreetMap to generate maps for use in simulations. +* [__Add a new vehicle__](tuto_A_add_vehicle.md) — Prepare a vehicle to be used in CARLA. +* [__Add new props__](tuto_A_add_props.md) — Import additional props into CARLA. +* [__Create standalone packages__](tuto_A_create_standalone.md) — Generate and handle standalone packages for assets. +* [__Material customization__](tuto_A_material_customization.md) — Edit vehicle and building materials. ## Developers -[__How to upgrade content__](tuto_D_contribute_assets.md) — Add new content to CARLA. -[__Create a sensor__](tuto_D_create_sensor.md) — Develop a new sensor to be used in CARLA. -[__Create semantic tags__](tuto_D_create_semantic_tags.md) — Define customized tags for semantic segmentation. -[__Customize vehicle suspension__](tuto_D_customize_vehicle_suspension.md) — Modify the suspension system of a vehicle. -[__Generate detailed colliders__](tuto_D_generate_colliders.md) — Create detailed colliders for vehicles. -[__Make a release__](tuto_D_make_release.md) — How to make a release of CARLA +* [__How to upgrade content__](tuto_D_contribute_assets.md) — Add new content to CARLA. +* [__Create a sensor__](tuto_D_create_sensor.md) — Develop a new sensor to be used in CARLA. +* [__Create semantic tags__](tuto_D_create_semantic_tags.md) — Define customized tags for semantic segmentation. +* [__Customize vehicle suspension__](tuto_D_customize_vehicle_suspension.md) — Modify the suspension system of a vehicle. +* [__Generate detailed colliders__](tuto_D_generate_colliders.md) — Create detailed colliders for vehicles. +* [__Make a release__](tuto_D_make_release.md) — How to make a release of CARLA ## Video tutorials -[__Fundamentals__](https://www.youtube.com/watch?v=pONr1R1dy88) — Learn the fundamental concepts of CARLA and start your first script. [__CODE__](https://carla-releases.s3.us-east-005.backblazeb2.com/Docs/Fundamentals.ipynb) -[__An in depth look at CARLA's sensors__](https://www.youtube.com/watch?v=om8klsBj4rc) — An in depth look at CARLA's sensors and how to use them. [__CODE__](https://carla-releases.s3.us-east-005.backblazeb2.com/Docs/Sensors_code.zip) +* [__Fundamentals__](https://www.youtube.com/watch?v=pONr1R1dy88) — Learn the fundamental concepts of CARLA and start your first script. [__CODE__](https://carla-releases.s3.us-east-005.backblazeb2.com/Docs/Fundamentals.ipynb) +* [__An in depth look at CARLA's sensors__](https://www.youtube.com/watch?v=om8klsBj4rc) — An in depth look at CARLA's sensors and how to use them. [__CODE__](https://carla-releases.s3.us-east-005.backblazeb2.com/Docs/Sensors_code.zip) From b9a973d0dfbfb6f0f8cfc64974b80b1c99c5f37d Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Thu, 14 Dec 2023 10:45:34 +0100 Subject: [PATCH 005/105] update jenkinsfile_new with complete pipeline but without updating repos --- Jenkinsfile_new | 20 +++++++++++--------- 1 file changed, 11 insertions(+), 9 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 97f89a2a2..c4da6ccbc 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -159,14 +159,14 @@ pipeline } } } - /* + stage('ubuntu deploy dev') { - when { branch "dev"; } + when { expression { true } or branch "dev"; } steps { sh 'git checkout .' - sh 'make deploy ARGS="--replace-latest"' + //sh 'make deploy ARGS="--replace-latest"' } } stage('ubuntu deploy master') @@ -175,12 +175,12 @@ pipeline steps { sh 'git checkout .' - sh 'make deploy ARGS="--replace-latest --docker-push"' + //sh 'make deploy ARGS="--replace-latest --docker-push"' } } stage('ubuntu Doxygen') { - when { anyOf { branch "master"; branch "dev"; buildingTag() } } + when { expression { true } or anyOf { branch "master"; branch "dev"; buildingTag() } } steps { sh 'rm -rf ~/carla-simulator.github.io/Doxygen' @@ -192,12 +192,14 @@ pipeline ''' sh 'make docs' sh 'cp -rf ./Doxygen ~/carla-simulator.github.io/' + /* sh ''' cd ~/carla-simulator.github.io git add Doxygen git commit -m "Updated c++ docs" || true git push ''' + */ } post { @@ -228,7 +230,7 @@ pipeline } } } - /* + stage('windows') { agent { label "windows" } @@ -319,7 +321,7 @@ pipeline bat """ call ../setEnv64.bat git checkout . - make deploy ARGS="--replace-latest" + REM make deploy ARGS="--replace-latest" """ } } @@ -341,11 +343,11 @@ pipeline jenkinsLib.DeleteWindowsBuildNode(JOB_ID) } } - + */ } } } - */ + } } } From 86fcfe5e807b22c174ed38e8002da89248095c8d Mon Sep 17 00:00:00 2001 From: synkrotron Date: Mon, 18 Dec 2023 17:02:33 +0800 Subject: [PATCH 006/105] Fix problems of lanemarking generation and tree generation (#7006) Co-authored-by: xiaofei <13319202082@163.com> --- LibCarla/source/carla/road/Map.cpp | 1 + LibCarla/source/carla/road/MeshFactory.cpp | 113 +++++++++------------ LibCarla/source/carla/road/MeshFactory.h | 9 ++ 3 files changed, 56 insertions(+), 67 deletions(-) diff --git a/LibCarla/source/carla/road/Map.cpp b/LibCarla/source/carla/road/Map.cpp index e746ad893..70bedbeee 100644 --- a/LibCarla/source/carla/road/Map.cpp +++ b/LibCarla/source/carla/road/Map.cpp @@ -1232,6 +1232,7 @@ namespace road { while(s_current < s_end){ if(lane->GetWidth(s_current) != 0.0f){ const auto edges = lane->GetCornerPositions(s_current, 0); + if (edges.first == edges.second) continue; geom::Vector3D director = edges.second - edges.first; geom::Vector3D treeposition = edges.first - director.MakeUnitVector() * distancefromdrivinglineborder; geom::Transform lanetransform = lane->ComputeTransform(s_current); diff --git a/LibCarla/source/carla/road/MeshFactory.cpp b/LibCarla/source/carla/road/MeshFactory.cpp index 83cb3f513..8d7019ebb 100644 --- a/LibCarla/source/carla/road/MeshFactory.cpp +++ b/LibCarla/source/carla/road/MeshFactory.cpp @@ -761,14 +761,11 @@ std::map>> MeshFactory: case carla::road::element::LaneMarking::Type::Solid: { size_t currentIndex = out_mesh.GetVertices().size() + 1; - std::pair edges = lane.GetCornerPositions(s_current, 0); - - geom::Vector3D director = edges.second - edges.first; - director /= director.Length(); - geom::Vector3D endmarking = edges.first + director * lane_mark_info.width; + std::pair edges = + ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width); out_mesh.AddVertex(edges.first); - out_mesh.AddVertex(endmarking); + out_mesh.AddVertex(edges.second); out_mesh.AddIndex(currentIndex); out_mesh.AddIndex(currentIndex + 1); @@ -784,30 +781,23 @@ std::map>> MeshFactory: case carla::road::element::LaneMarking::Type::Broken: { size_t currentIndex = out_mesh.GetVertices().size() + 1; - std::pair edges = - lane.GetCornerPositions(s_current, road_param.extra_lane_width); - - geom::Vector3D director = edges.second - edges.first; - director /= director.Length(); - geom::Vector3D endmarking = edges.first + director * lane_mark_info.width; + std::pair edges = + ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width); out_mesh.AddVertex(edges.first); - out_mesh.AddVertex(endmarking); + out_mesh.AddVertex(edges.second); s_current += road_param.resolution * 3; if (s_current > s_end) { s_current = s_end; } - edges = lane.GetCornerPositions(s_current, road_param.extra_lane_width); - director = edges.second - edges.first; - director /= director.Length(); - endmarking = edges.first + director * lane_mark_info.width; + edges = ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width); out_mesh.AddVertex(edges.first); - out_mesh.AddVertex(endmarking); - + out_mesh.AddVertex(edges.second); + out_mesh.AddIndex(currentIndex); out_mesh.AddIndex(currentIndex + 1); out_mesh.AddIndex(currentIndex + 2); @@ -864,13 +854,12 @@ std::map>> MeshFactory: const carla::road::element::RoadInfoMarkRecord* road_info_mark = lane.GetInfo(s_current); if (road_info_mark != nullptr) { carla::road::element::LaneMarking lane_mark_info(*road_info_mark); - std::pair edges = lane.GetCornerPositions(s_end, 0); - geom::Vector3D director = edges.second - edges.first; - director /= director.Length(); - geom::Vector3D endmarking = edges.first + director * lane_mark_info.width; + + std::pair edges = + ComputeEdgesForLanemark(lane_section, lane, s_end, lane_mark_info.width); out_mesh.AddVertex(edges.first); - out_mesh.AddVertex(endmarking); + out_mesh.AddVertex(edges.second); } inout.push_back(std::make_unique(out_mesh)); } @@ -927,58 +916,21 @@ std::map>> MeshFactory: case carla::road::element::LaneMarking::Type::Broken: { size_t currentIndex = out_mesh.GetVertices().size() + 1; - std::pair edges = - lane.GetCornerPositions(s_current, road_param.extra_lane_width); - - geom::Vector3D director; - if (lane.GetWidth(s_current) != 0) { - director = edges.second - edges.first; - director /= director.Length(); - } else { - const std::map & lanes = lane_section.GetLanes(); - for (const auto& lane_pair : lanes) { - if (lane_pair.second.GetWidth(s_current) != 0) { - std::pair another_edge = - lane_pair.second.GetCornerPositions(s_current, road_param.extra_lane_width); - director = another_edge.second - another_edge.first; - director /= director.Length(); - break; - } - } - } - - geom::Vector3D endmarking = edges.first + director * lane_mark_info.width; - + std::pair edges = + ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width); + out_mesh.AddVertex(edges.first); - out_mesh.AddVertex(endmarking); + out_mesh.AddVertex(edges.second); s_current += road_param.resolution * 3; if (s_current > s_end) { s_current = s_end; } - edges = lane.GetCornerPositions(s_current, road_param.extra_lane_width); - - if (lane.GetWidth(s_current) != 0) { - director = edges.second - edges.first; - director /= director.Length(); - } else { - const std::map & lanes = lane_section.GetLanes(); - for (const auto& lane_pair : lanes) { - if (lane_pair.second.GetWidth(s_current) != 0) { - std::pair another_edge = - lane_pair.second.GetCornerPositions(s_current, road_param.extra_lane_width); - director = another_edge.second - another_edge.first; - director /= director.Length(); - break; - } - } - } - - endmarking = edges.first + director * lane_mark_info.width; + edges = ComputeEdgesForLanemark(lane_section, lane, s_current, lane_mark_info.width); out_mesh.AddVertex(edges.first); - out_mesh.AddVertex(endmarking); + out_mesh.AddVertex(edges.second); out_mesh.AddIndex(currentIndex); out_mesh.AddIndex(currentIndex + 1); @@ -1179,6 +1131,33 @@ std::map>> MeshFactory: return std::make_unique(out_mesh); } + std::pair MeshFactory::ComputeEdgesForLanemark( + const road::LaneSection& lane_section, + const road::Lane& lane, + const double s_current, + const double lanemark_width) const { + std::pair edges = + lane.GetCornerPositions(s_current, road_param.extra_lane_width); + + geom::Vector3D director; + if (edges.first != edges.second) { + director = edges.second - edges.first; + director /= director.Length(); + } else { + const std::map & lanes = lane_section.GetLanes(); + for (const auto& lane_pair : lanes) { + std::pair another_edge = + lane_pair.second.GetCornerPositions(s_current, road_param.extra_lane_width); + if (another_edge.first != another_edge.second) { + director = another_edge.second - another_edge.first; + director /= director.Length(); + break; + } + } + } + geom::Vector3D endmarking = edges.first + director * lanemark_width; + return std::make_pair(edges.first, endmarking); + } } // namespace geom } // namespace carla diff --git a/LibCarla/source/carla/road/MeshFactory.h b/LibCarla/source/carla/road/MeshFactory.h index 0334d01d4..42bc60ea1 100644 --- a/LibCarla/source/carla/road/MeshFactory.h +++ b/LibCarla/source/carla/road/MeshFactory.h @@ -148,6 +148,15 @@ namespace geom { RoadParameters road_param; + private: + + // Calculate the points on both sides of the lane mark for the specified s_current + std::pair ComputeEdgesForLanemark( + const road::LaneSection& lane_section, + const road::Lane& lane, + const double s_current, + const double lanemark_width) const; + }; } // namespace geom From 718875708c456ec4bc8ac92abc4b55aefbf14ec6 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 18 Dec 2023 12:54:46 +0100 Subject: [PATCH 007/105] clean close comment token --- Jenkinsfile_new | 1 - 1 file changed, 1 deletion(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index c4da6ccbc..a9baeba04 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -209,7 +209,6 @@ pipeline } } } - */ } post { From ae2e4118f80a2e824a3f5dc39f0b3d3f203c0907 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 18 Dec 2023 14:39:39 +0100 Subject: [PATCH 008/105] fix expression --- Jenkinsfile_new | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index a9baeba04..0999a189d 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -162,7 +162,7 @@ pipeline stage('ubuntu deploy dev') { - when { expression { true } or branch "dev"; } + when { true or branch "dev"; } steps { sh 'git checkout .' @@ -180,7 +180,7 @@ pipeline } stage('ubuntu Doxygen') { - when { expression { true } or anyOf { branch "master"; branch "dev"; buildingTag() } } + when { true or anyOf { branch "master"; branch "dev"; buildingTag() } } steps { sh 'rm -rf ~/carla-simulator.github.io/Doxygen' From 5e41b69a00b7e98882857437053192143659f720 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 18 Dec 2023 14:43:45 +0100 Subject: [PATCH 009/105] code for testing --- Jenkinsfile_new | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 0999a189d..c7dbbc731 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -162,7 +162,16 @@ pipeline stage('ubuntu deploy dev') { - when { true or branch "dev"; } + // TESTING + when { branch "ruben/Jenkins_migrate"; } + steps + { + sh 'git checkout .' + //sh 'make deploy ARGS="--replace-latest"' + } + // END TESTING + + when { branch "dev"; } steps { sh 'git checkout .' From 5c1afc1d26db14c7784bf24b153fdf16a0527e17 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 18 Dec 2023 14:45:39 +0100 Subject: [PATCH 010/105] fix error --- Jenkinsfile_new | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index c7dbbc731..5dd8cee4f 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -189,7 +189,7 @@ pipeline } stage('ubuntu Doxygen') { - when { true or anyOf { branch "master"; branch "dev"; buildingTag() } } + when { anyOf { branch "master"; branch "dev"; buildingTag() } } steps { sh 'rm -rf ~/carla-simulator.github.io/Doxygen' From b8193195319bf0c391cff211d862b62cc93bc527 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 18 Dec 2023 14:49:19 +0100 Subject: [PATCH 011/105] code for testing --- Jenkinsfile_new | 41 ++++++++++++++++++++++++++++++++++++++--- 1 file changed, 38 insertions(+), 3 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 5dd8cee4f..36b7c8372 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -160,17 +160,19 @@ pipeline } } - stage('ubuntu deploy dev') + stage('TEST: ubuntu deploy sim') { - // TESTING when { branch "ruben/Jenkins_migrate"; } steps { sh 'git checkout .' //sh 'make deploy ARGS="--replace-latest"' } - // END TESTING + } + + stage('ubuntu deploy dev') + { when { branch "dev"; } steps { @@ -187,6 +189,39 @@ pipeline //sh 'make deploy ARGS="--replace-latest --docker-push"' } } + + stage('TEST: ubuntu Doxygen') + { + when { branch "ruben/Jenkins_migrate" } + steps + { + sh 'rm -rf ~/carla-simulator.github.io/Doxygen' + sh ''' + cd ~/carla-simulator.github.io + git remote set-url origin git@docs:carla-simulator/carla-simulator.github.io.git + git fetch + git checkout -B master origin/master + ''' + sh 'make docs' + sh 'cp -rf ./Doxygen ~/carla-simulator.github.io/' + /* + sh ''' + cd ~/carla-simulator.github.io + git add Doxygen + git commit -m "Updated c++ docs" || true + git push + ''' + */ + } + post + { + always + { + deleteDir() + } + } + } + stage('ubuntu Doxygen') { when { anyOf { branch "master"; branch "dev"; buildingTag() } } From d76173993bec0c1ef762862f12959d1ba6707891 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 19 Dec 2023 11:39:03 +0100 Subject: [PATCH 012/105] update build to use python 3.8 --- Jenkinsfile_new | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 36b7c8372..d1470ed05 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -45,7 +45,7 @@ pipeline steps { sh 'git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject' - sh 'make setup ARGS="--python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' + sh 'make setup ARGS="--python-version=3.8, 2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' } } stage('ubuntu build') @@ -53,7 +53,7 @@ pipeline steps { sh 'make LibCarla' - sh 'make PythonAPI ARGS="--python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make PythonAPI ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make CarlaUE4Editor ARGS="--chrono"' sh 'make plugins' sh 'make examples' @@ -73,7 +73,7 @@ pipeline { steps { - sh 'make check ARGS="--all --xml --python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make check ARGS="--all --xml --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' } post { @@ -95,8 +95,8 @@ pipeline { steps { - sh 'make package ARGS="--python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' - sh 'make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make package ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' + sh 'make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make examples ARGS="localhost 3654"' } post @@ -136,7 +136,7 @@ pipeline sh 'tar -xvzf Dist/CARLA*.tar.gz -C Dist/' // sh 'tar -xvzf Dist/AdditionalMaps*.tar.gz -C Dist/' sh 'DISPLAY= ./Dist/CarlaUE4.sh -nullrhi -RenderOffScreen --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &' - sh 'make smoke_tests ARGS="--xml --python-version=3.7 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make smoke_tests ARGS="--xml --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make run-examples ARGS="localhost 3654"' } post From ae19bb4c26c131bd806cf9c36db7bbec84dcd2d7 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 20 Dec 2023 11:53:54 +0100 Subject: [PATCH 013/105] using global path for the setEnv script on windows --- Jenkinsfile_new | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index d1470ed05..a6e3a0d73 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -288,11 +288,11 @@ pipeline steps { bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject """ bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat make setup ARGS="--chrono" """ } @@ -302,19 +302,19 @@ pipeline steps { bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat make LibCarla """ bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat make PythonAPI """ bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat make CarlaUE4Editor ARGS="--chrono" """ bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat make plugins """ } @@ -332,7 +332,7 @@ pipeline steps { bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat call Update.bat """ } @@ -342,11 +342,11 @@ pipeline steps { bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat make package ARGS="--chrono" """ bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate" """ } @@ -362,7 +362,7 @@ pipeline when { anyOf { branch "master"; branch "dev"; buildingTag() } } steps { bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat git checkout . REM make deploy ARGS="--replace-latest" """ From 7d9ca7def60d9b87422efa5877e3efb87f1f884a Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 20 Dec 2023 15:10:33 +0100 Subject: [PATCH 014/105] build python api only for python 3 --- Jenkinsfile_new | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index a6e3a0d73..f1bef1d7f 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -45,7 +45,7 @@ pipeline steps { sh 'git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject' - sh 'make setup ARGS="--python-version=3.8, 2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' + sh 'make setup ARGS="--python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' } } stage('ubuntu build') @@ -53,7 +53,7 @@ pipeline steps { sh 'make LibCarla' - sh 'make PythonAPI ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make PythonAPI ARGS="--python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make CarlaUE4Editor ARGS="--chrono"' sh 'make plugins' sh 'make examples' @@ -73,7 +73,7 @@ pipeline { steps { - sh 'make check ARGS="--all --xml --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make check ARGS="--all --xml --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' } post { @@ -95,8 +95,8 @@ pipeline { steps { - sh 'make package ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' - sh 'make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make package ARGS="--python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' + sh 'make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make examples ARGS="localhost 3654"' } post From 1c9d8663b4a8cede6b7e60c590880e6d72d9547e Mon Sep 17 00:00:00 2001 From: MattRoweEAIF <125647690+MattRoweEAIF@users.noreply.github.com> Date: Wed, 20 Dec 2023 16:47:18 +0100 Subject: [PATCH 015/105] specified CMake version 3.15 for windows build (#7019) --- Docs/build_windows.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Docs/build_windows.md b/Docs/build_windows.md index 627e1982c..06aeef776 100644 --- a/Docs/build_windows.md +++ b/Docs/build_windows.md @@ -40,7 +40,7 @@ In this section you will find details of system requirements, minor and major so #### Minor installations -* [__CMake__](https://cmake.org/download/) generates standard build files from simple configuration files. +* [__CMake__](https://cmake.org/download/) generates standard build files from simple configuration files. __We recommend you use version 3.15+__. * [__Git__](https://git-scm.com/downloads) is a version control system to manage CARLA repositories. * [__Make__](http://gnuwin32.sourceforge.net/packages/make.htm) generates the executables. It is necessary to use __Make version 3.81__, otherwise the build may fail. If you have multiple versions of Make installed, check that you are using version 3.81 in your PATH when building CARLA. You can check your default version of Make by running `make --version`. * [__7Zip__](https://www.7-zip.org/) is a file compression software. This is required for automatic decompression of asset files and prevents errors during build time due to large files being extracted incorrectly or partially. From 27845c08e5d1c6c4bf893844fc7c338582153ecc Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Thu, 21 Dec 2023 13:55:49 +0100 Subject: [PATCH 016/105] revert build for python2 too --- Jenkinsfile_new | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index f1bef1d7f..4a20695cf 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -45,7 +45,7 @@ pipeline steps { sh 'git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject' - sh 'make setup ARGS="--python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' + sh 'make setup ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' } } stage('ubuntu build') @@ -53,7 +53,7 @@ pipeline steps { sh 'make LibCarla' - sh 'make PythonAPI ARGS="--python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make PythonAPI ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make CarlaUE4Editor ARGS="--chrono"' sh 'make plugins' sh 'make examples' @@ -73,7 +73,7 @@ pipeline { steps { - sh 'make check ARGS="--all --xml --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make check ARGS="--all --xml --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' } post { @@ -95,8 +95,8 @@ pipeline { steps { - sh 'make package ARGS="--python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' - sh 'make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make package ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' + sh 'make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make examples ARGS="localhost 3654"' } post @@ -136,7 +136,7 @@ pipeline sh 'tar -xvzf Dist/CARLA*.tar.gz -C Dist/' // sh 'tar -xvzf Dist/AdditionalMaps*.tar.gz -C Dist/' sh 'DISPLAY= ./Dist/CarlaUE4.sh -nullrhi -RenderOffScreen --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &' - sh 'make smoke_tests ARGS="--xml --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make smoke_tests ARGS="--xml --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make run-examples ARGS="localhost 3654"' } post From b4d61aeae590e8fc343e66348a8c4c5e9b265f2e Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Thu, 21 Dec 2023 15:25:50 +0100 Subject: [PATCH 017/105] delete test node creation --- Jenkinsfile_new | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 4a20695cf..b8762d23e 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -108,7 +108,7 @@ pipeline // stash includes: 'Dist/AdditionalMaps*.tar.gz', name: 'ubuntu_package2' stash includes: 'Examples/', name: 'ubuntu_examples' } - success + /*success { node('master') { @@ -120,7 +120,7 @@ pipeline jenkinsLib.CreateUbuntuTestNode(JOB_ID) } } - } + }*/ } } stage('ubuntu smoke tests') From d29e5963301c186469d781db394eb1de60ed58e8 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Sun, 24 Dec 2023 12:53:29 +0100 Subject: [PATCH 018/105] test only using python 3 --- Jenkinsfile_new | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index b8762d23e..91c65f1cc 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -136,7 +136,7 @@ pipeline sh 'tar -xvzf Dist/CARLA*.tar.gz -C Dist/' // sh 'tar -xvzf Dist/AdditionalMaps*.tar.gz -C Dist/' sh 'DISPLAY= ./Dist/CarlaUE4.sh -nullrhi -RenderOffScreen --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &' - sh 'make smoke_tests ARGS="--xml --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make smoke_tests ARGS="--xml --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make run-examples ARGS="localhost 3654"' } post From b87fad064bbc7ca559f427a47d028f5678427e75 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B=E6=B5=B7=E4=B8=9C?= Date: Thu, 4 Jan 2024 17:34:52 +0800 Subject: [PATCH 019/105] Fix some spelling errors in the document (#7043) * Remove excess parentheses from RSS document * Fix some spelling errors in the document --- Docs/adv_rss.md | 2 +- Docs/tuto_A_material_customization.md | 8 ++++---- Docs/tuto_D_generate_colliders.md | 2 +- Docs/tuto_G_retrieve_data.md | 2 +- Docs/tuto_G_texture_streaming.md | 2 +- Docs/tuto_content_authoring_maps.md | 2 +- 6 files changed, 9 insertions(+), 9 deletions(-) diff --git a/Docs/adv_rss.md b/Docs/adv_rss.md index 6ec09807c..e357822d4 100644 --- a/Docs/adv_rss.md +++ b/Docs/adv_rss.md @@ -59,7 +59,7 @@ As a reminder, the feature is only available for the Linux build so far. ### Dependencies -There are additional prerequisites required for building RSS and its dependencies. Take a look at the [official documentation](https://intel.github.io/ad-rss-lib/BUILDING)) to know more about this. +There are additional prerequisites required for building RSS and its dependencies. Take a look at the [official documentation](https://intel.github.io/ad-rss-lib/BUILDING) to know more about this. Dependencies provided by Ubunutu (>= 16.04). ```sh diff --git a/Docs/tuto_A_material_customization.md b/Docs/tuto_A_material_customization.md index fc360a6e2..5fa0e8bee 100644 --- a/Docs/tuto_A_material_customization.md +++ b/Docs/tuto_A_material_customization.md @@ -23,9 +23,9 @@ In CARLA, there is a set of master materials that are used as templates for the * __M_CarInterior_Master__ — Material applied to the inside of the car. * __M_CarLightsGlass_Master__ — Material applied to the glass covering car lights. * __M_CarWindows_Master__ — Material applied to the windows. -* __M_CarLicensePlate_Master__ — Material applied to the license plate. -* __M_CarVehicleLights_Master__ — Material applied to the car lights as an emissive texure. -* __M_CarVehicleLigthsSirens_Master__ — Material applied to the sirens, if applicable. +* __M_LicensePlate_Master__ — Material applied to the license plate. +* __M_VehicleLights_Master__ — Material applied to the car lights as an emissive texure. +* __M_VehicleLights_Sirens_Master__ — Material applied to the sirens, if applicable. --- ## Customize car materials @@ -142,7 +142,7 @@ Similarly to car materials, a building material can be greatly changed if desire * `Color` — Tint to be applied based on the white area on the __Diffuse__ `Alpha` texture. * `Emissive Texture` — Enable the usage of an __Emissive__ texture. * `EmissiveColor` — Tint to be applied based on the white area on the __ORME__ `Emissive mask` texture. - * `Emissive atenuance` — Factor that divides the intensity stated in __BP_Lights__ to obtain proper emissive values. + * `Emissive attenuance` — Factor that divides the intensity stated in __BP_Lights__ to obtain proper emissive values. * `RoughnessCorrection` — Changes the intensity of the roughness map. * `MetallicCorrection` — Changes the intensity of the metallic map. * `NormalFlatness` — Changes the intensity of the normal map. diff --git a/Docs/tuto_D_generate_colliders.md b/Docs/tuto_D_generate_colliders.md index b4b0bf864..b23178b4b 100644 --- a/Docs/tuto_D_generate_colliders.md +++ b/Docs/tuto_D_generate_colliders.md @@ -67,7 +67,7 @@ __4.3__ Press `Compile` in the toolbar above and save the changes. ## Physics colliders !!! Important - This tutorial is based on a [contribution](https://bitbucket.org/yankagan/carla-content/wiki/Home) made by __[yankagan](https://github.com/yankagan)__! The contributor also wants to aknowledge __Francisco E__ for the tutorial on [how to import custom collisions in UE](https://www.youtube.com/watch?v=SEH4f0HrCDM). + This tutorial is based on a [contribution](https://bitbucket.org/yankagan/carla-content/wiki/Home) made by __[yankagan](https://github.com/yankagan)__! The contributor also wants to acknowledge __Francisco E__ for the tutorial on [how to import custom collisions in UE](https://www.youtube.com/watch?v=SEH4f0HrCDM). [This video](https://www.youtube.com/watch?v=CXK2M2cNQ4Y) shows the results achieved after following this tutorial. diff --git a/Docs/tuto_G_retrieve_data.md b/Docs/tuto_G_retrieve_data.md index 4a3c3427e..34591f7f2 100644 --- a/Docs/tuto_G_retrieve_data.md +++ b/Docs/tuto_G_retrieve_data.md @@ -568,7 +568,7 @@ The script places the sensor on the hood of the car, and rotated a bit upwards. The callback is a bit more complex this time, showing more of its capabilities. It will draw the points captured by the radar on the fly. The points will be colored depending on their velocity regarding the ego vehicle. * __Blue__ for points approaching the vehicle. -* __Read__ for points moving away from it. +* __Red__ for points moving away from it. * __White__ for points static regarding the ego vehicle. ```py diff --git a/Docs/tuto_G_texture_streaming.md b/Docs/tuto_G_texture_streaming.md index cbcf794f4..a16435f8f 100644 --- a/Docs/tuto_G_texture_streaming.md +++ b/Docs/tuto_G_texture_streaming.md @@ -8,7 +8,7 @@ Firstly, we need to load the Unreal Editor and load a CARLA map, follow the inst ![select_building](../img/tuto_G_texture_streaming/building_selected.png) -We have selected __BP_Apartment04_v5_Opt__ for texture manipulation, the name can be seen in the World Outliner panel. __Make sure to hover over the name in the World Outliner and use the name defined in the tooltip__. The the internal name may differ from the title displayed in the list. In this case, the internal name is actually __BP_Apartment04_v5_Opt_2__. +We have selected __BP_Apartment04_v05_Opt__ for texture manipulation, the name can be seen in the World Outliner panel. __Make sure to hover over the name in the World Outliner and use the name defined in the tooltip__. The the internal name may differ from the title displayed in the list. In this case, the internal name is actually __BP_Apartment04_v05_Opt_2__. ![tooltip](../img/tuto_G_texture_streaming/tooltip.png) diff --git a/Docs/tuto_content_authoring_maps.md b/Docs/tuto_content_authoring_maps.md index c9619b894..e3dcdd0ee 100644 --- a/Docs/tuto_content_authoring_maps.md +++ b/Docs/tuto_content_authoring_maps.md @@ -403,7 +403,7 @@ Navigate to the vegetation folder in the CARLA content library: `Carla > Static A useful tool for trees and vegetation is the [__Unreal Engine foliage tool__](https://docs.unrealengine.com/4.27/en-US/BuildingWorlds/Foliage/). Activate the tool by selecting the `mode` from the mode dropdown in the toolbar. -![foliage_tool](img/tuto_content_authoring_maps/select_foliage_tool.png) +![foliage_tool](img/tuto_content_authoring_maps/select_foliage_tool.gif) Drag your desired foliage item into the box labeled `+ Drop Foliage Here`. Set an appropriate density in the density field, then paint into the map with your foliage item. From f292becab4fc9fcdb38c5f66f0c700ff62460cad Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 10 Jan 2024 17:32:24 +0100 Subject: [PATCH 020/105] fix use a new oficial boost repo --- Util/BuildTools/Setup.sh | 5 ++-- Util/InstallersWin/install_boost.bat | 35 ++++++++++++++++++++++++---- 2 files changed, 34 insertions(+), 6 deletions(-) diff --git a/Util/BuildTools/Setup.sh b/Util/BuildTools/Setup.sh index 9aa65533b..de2f1332d 100755 --- a/Util/BuildTools/Setup.sh +++ b/Util/BuildTools/Setup.sh @@ -69,6 +69,7 @@ UNREAL_HOSTED_CFLAGS="--sysroot=$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/Hos BOOST_VERSION=1.80.0 BOOST_BASENAME="boost-${BOOST_VERSION}-${CXX_TAG}" +BOOST_SHA256SUM="4b2136f98bdd1f5857f1c3dea9ac2018effe65286cf251534b6ae20cc45e1847" BOOST_INCLUDE=${PWD}/${BOOST_BASENAME}-install/include BOOST_LIBPATH=${PWD}/${BOOST_BASENAME}-install/lib @@ -91,9 +92,9 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do BOOST_PACKAGE_BASENAME=boost_${BOOST_VERSION//./_} log "Retrieving boost." - wget "https://boostorg.jfrog.io/artifactory/main/release/${BOOST_VERSION}/source/${BOOST_PACKAGE_BASENAME}.tar.gz" || true + wget "https://archives.boost.io/release/${BOOST_VERSION}/source/${BOOST_PACKAGE_BASENAME}.tar.gz" || true # try to use the backup boost we have in Jenkins - if [[ ! -f "${BOOST_PACKAGE_BASENAME}.tar.gz" ]] ; then + if [[ ! -f "${BOOST_PACKAGE_BASENAME}.tar.gz" ] || [! echo "${BOOST_SHA256SUM} ${BOOST_PACKAGE_BASENAME}.tar.gz" | sha256sum -c --status]] ; then log "Using boost backup" wget "https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/${BOOST_PACKAGE_BASENAME}.tar.gz" || true fi diff --git a/Util/InstallersWin/install_boost.bat b/Util/InstallersWin/install_boost.bat index bcefaa72d..c1608f8f3 100644 --- a/Util/InstallersWin/install_boost.bat +++ b/Util/InstallersWin/install_boost.bat @@ -1,5 +1,5 @@ @echo off -setlocal +setlocal enabledelayedexpansion rem BAT script that downloads and installs a ready to use rem boost build for CARLA (carla.org). @@ -66,12 +66,13 @@ rem -- Local Variables --------------------------------------------------------- rem ============================================================================ set BOOST_BASENAME=boost-%BOOST_VERSION% +set BOOST_SHA256SUM="e34756f63abe8ac34b35352743f17d061fcc825969a2dd8458264edb38781782" set BOOST_TEMP_FOLDER=boost_%BOOST_VERSION:.=_% set BOOST_TEMP_FILE=%BOOST_TEMP_FOLDER%.zip set BOOST_TEMP_FILE_DIR=%BUILD_DIR%%BOOST_TEMP_FILE% -set BOOST_REPO=https://boostorg.jfrog.io/artifactory/main/release/%BOOST_VERSION%/source/%BOOST_TEMP_FILE% +set BOOST_REPO=https://archives.boost.io/release/%BOOST_VERSION%/source/%BOOST_TEMP_FILE% set BOOST_SRC_DIR=%BUILD_DIR%%BOOST_BASENAME%-source\ set BOOST_INSTALL_DIR=%BUILD_DIR%%BOOST_BASENAME%-install\ set BOOST_LIB_DIR=%BOOST_INSTALL_DIR%lib\ @@ -84,16 +85,20 @@ if exist "%BOOST_INSTALL_DIR%" ( goto already_build ) +set _checksum="" + if not exist "%BOOST_SRC_DIR%" ( if not exist "%BOOST_TEMP_FILE_DIR%" ( echo %FILE_N% Retrieving boost. powershell -Command "(New-Object System.Net.WebClient).DownloadFile('%BOOST_REPO%', '%BOOST_TEMP_FILE_DIR%')" + call :CheckSumEvaluate %BOOST_TEMP_FILE_DIR%,%BOOST_SHA256SUM%,_checksum ) - if not exist "%BOOST_TEMP_FILE_DIR%" ( + if "!_checksum!" == "1" ( echo %FILE_N% Using Boost backup powershell -Command "(New-Object System.Net.WebClient).DownloadFile('https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/%BOOST_TEMP_FILE%', '%BOOST_TEMP_FILE_DIR%')" + call :CheckSumEvaluate %BOOST_TEMP_FILE_DIR%,%BOOST_SHA256SUM%,_checksum ) - if %errorlevel% neq 0 goto error_download + if "!_checksum!" == "1" goto error_download echo %FILE_N% Extracting boost from "%BOOST_TEMP_FILE%", this can take a while... if exist "%ProgramW6432%/7-Zip/7z.exe" ( "%ProgramW6432%/7-Zip/7z.exe" x "%BOOST_TEMP_FILE_DIR%" -o"%BUILD_DIR%" -y @@ -197,3 +202,25 @@ rem ============================================================================ echo %FILE_N% Exiting with error... endlocal exit /b %errorlevel% + +:CheckSumEvaluate +set filepath=%1 +set checksum=%2 + +echo %FILE_N% calculating %filepath% checksum... + +set PsCommand="(Get-FileHash %filepath%).Hash -eq '%checksum%'" + +for /f %%F in ('Powershell -C %PsCommand%') do ( + set filechecksum=%%F +) + +if %filechecksum% == True ( + echo %FILE_N% %filepath% checksum OK + set "%~3=0" + exit /b 0 +) else ( + echo %FILE_N% %filepath% BAD SHA256 checksum + set "%~3=1" + exit /b 1 +) \ No newline at end of file From a1a7faeb60ec216ab5d72a985857602099115898 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 10 Jan 2024 18:26:55 +0100 Subject: [PATCH 021/105] fix error on check --- Util/BuildTools/Setup.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Util/BuildTools/Setup.sh b/Util/BuildTools/Setup.sh index de2f1332d..006358552 100755 --- a/Util/BuildTools/Setup.sh +++ b/Util/BuildTools/Setup.sh @@ -94,7 +94,7 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do log "Retrieving boost." wget "https://archives.boost.io/release/${BOOST_VERSION}/source/${BOOST_PACKAGE_BASENAME}.tar.gz" || true # try to use the backup boost we have in Jenkins - if [[ ! -f "${BOOST_PACKAGE_BASENAME}.tar.gz" ] || [! echo "${BOOST_SHA256SUM} ${BOOST_PACKAGE_BASENAME}.tar.gz" | sha256sum -c --status]] ; then + if [ ! -f "${BOOST_PACKAGE_BASENAME}.tar.gz" ] || [[ $(sha256sum "${BOOST_PACKAGE_BASENAME}.tar.gz") != "${BOOST_SHA256SUM}" ]] ; then log "Using boost backup" wget "https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/${BOOST_PACKAGE_BASENAME}.tar.gz" || true fi From b92bff44292b057c88cdee9fd4cd2139ce316cf2 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Thu, 11 Jan 2024 14:49:13 +0100 Subject: [PATCH 022/105] fix branch name for testing --- Jenkinsfile_new | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 91c65f1cc..9a8323f5a 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -162,7 +162,7 @@ pipeline stage('TEST: ubuntu deploy sim') { - when { branch "ruben/Jenkins_migrate"; } + when { branch "ruben/jenkins_migration"; } steps { sh 'git checkout .' @@ -192,7 +192,7 @@ pipeline stage('TEST: ubuntu Doxygen') { - when { branch "ruben/Jenkins_migrate" } + when { branch "ruben/jenkins_migration" } steps { sh 'rm -rf ~/carla-simulator.github.io/Doxygen' From 3a24ec59a045094aa20eacc222b1df637e3cc7b5 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Thu, 11 Jan 2024 14:54:00 +0100 Subject: [PATCH 023/105] remove commented code --- Jenkinsfile_new | 62 ------------------------------------------------- 1 file changed, 62 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 9a8323f5a..7572c641c 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -11,22 +11,6 @@ pipeline stages { - /*stage('Creating nodes') - { - - agent { label "master" } - steps - { - script - { - JOB_ID = "${env.BUILD_TAG}" - jenkinsLib = load("/home/jenkins/jenkins_426.groovy") - - jenkinsLib.CreateUbuntuBuildNode(JOB_ID) - jenkinsLib.CreateWindowsBuildNode(JOB_ID) - } - } - }*/ stage('Building CARLA') { parallel @@ -108,19 +92,6 @@ pipeline // stash includes: 'Dist/AdditionalMaps*.tar.gz', name: 'ubuntu_package2' stash includes: 'Examples/', name: 'ubuntu_examples' } - /*success - { - node('master') - { - script - { - JOB_ID = "${env.BUILD_TAG}" - jenkinsLib = load("/home/jenkins/jenkins_426.groovy") - - jenkinsLib.CreateUbuntuTestNode(JOB_ID) - } - } - }*/ } } stage('ubuntu smoke tests') @@ -146,16 +117,6 @@ pipeline archiveArtifacts 'CarlaUE4.log' junit 'Build/test-results/smoke-tests-*.xml' deleteDir() - /*node('master') - { - script - { - JOB_ID = "${env.BUILD_TAG}" - jenkinsLib = load("/home/jenkins/jenkins_426.groovy") - - jenkinsLib.DeleteUbuntuTestNode(JOB_ID) - } - }*/ } } } @@ -259,17 +220,6 @@ pipeline always { deleteDir() - - /*node('master') - { - script - { - JOB_ID = "${env.BUILD_TAG}" - jenkinsLib = load("/home/jenkins/jenkins_426.groovy") - - jenkinsLib.DeleteUbuntuBuildNode(JOB_ID) - } - }*/ } } } @@ -375,18 +325,6 @@ pipeline always { deleteDir() - /* - node('master') - { - script - { - JOB_ID = "${env.BUILD_TAG}" - jenkinsLib = load("/home/jenkins/jenkins_426.groovy") - - jenkinsLib.DeleteWindowsBuildNode(JOB_ID) - } - } - */ } } } From 4f5a7ece8f3d91be364d973e4652c5f9eec6e5e8 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Thu, 11 Jan 2024 14:55:01 +0100 Subject: [PATCH 024/105] comment windows stages --- Jenkinsfile_new | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 7572c641c..3e95138a9 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -223,9 +223,10 @@ pipeline } } } - + /* stage('windows') { + agent { label "windows" } environment { @@ -327,7 +328,7 @@ pipeline deleteDir() } } - } + }*/ } } From 4471a2c51bd3d3c25a3c51730b166ae4ea47db56 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 15 Jan 2024 12:45:17 +0100 Subject: [PATCH 025/105] avoid doing repo checkout on testing node --- Jenkinsfile_new | 1 + 1 file changed, 1 insertion(+) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 3e95138a9..f0e7dfde1 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -97,6 +97,7 @@ pipeline stage('ubuntu smoke tests') { agent { label "ubuntu && gpu" } + options { skipDefaultCheckout true } steps { unstash name: 'ubuntu_eggs' From ccc6764353cd780d3dab211d9e9877cdcbd80138 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 15 Jan 2024 15:12:55 +0100 Subject: [PATCH 026/105] ubuntu doxygen generation test --- Jenkinsfile_new | 12 +++--------- 1 file changed, 3 insertions(+), 9 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index f0e7dfde1..c3985379f 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -24,7 +24,7 @@ pipeline } stages { - stage('ubuntu setup') + /*stage('ubuntu setup') { steps { @@ -151,19 +151,13 @@ pipeline //sh 'make deploy ARGS="--replace-latest --docker-push"' } } - + */ stage('TEST: ubuntu Doxygen') { when { branch "ruben/jenkins_migration" } steps { - sh 'rm -rf ~/carla-simulator.github.io/Doxygen' - sh ''' - cd ~/carla-simulator.github.io - git remote set-url origin git@docs:carla-simulator/carla-simulator.github.io.git - git fetch - git checkout -B master origin/master - ''' + checkout scmGit(branches: [[name: '*/master']], extensions: [], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) sh 'make docs' sh 'cp -rf ./Doxygen ~/carla-simulator.github.io/' /* From b1e695b5b157e819bba33a2261a7c9e7e340debd Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 15 Jan 2024 17:27:23 +0100 Subject: [PATCH 027/105] configure timeout for doc repo checkout --- Jenkinsfile_new | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index c3985379f..d8fd7c824 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -157,7 +157,7 @@ pipeline when { branch "ruben/jenkins_migration" } steps { - checkout scmGit(branches: [[name: '*/master']], extensions: [], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) + checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) sh 'make docs' sh 'cp -rf ./Doxygen ~/carla-simulator.github.io/' /* From 534a2ea21ddd41e19a7070eeceae43c1c4cc3b3c Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 15 Jan 2024 20:22:31 +0100 Subject: [PATCH 028/105] increase doc repo fetch timeout --- Jenkinsfile_new | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index d8fd7c824..1c33867c2 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -157,7 +157,7 @@ pipeline when { branch "ruben/jenkins_migration" } steps { - checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) + checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOptions(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) sh 'make docs' sh 'cp -rf ./Doxygen ~/carla-simulator.github.io/' /* From 46aee8503220360242d3d591f195f2cfa6d0db52 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 15 Jan 2024 20:23:49 +0100 Subject: [PATCH 029/105] option error --- Jenkinsfile_new | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 1c33867c2..35263ea1e 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -157,7 +157,7 @@ pipeline when { branch "ruben/jenkins_migration" } steps { - checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOptions(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) + checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) sh 'make docs' sh 'cp -rf ./Doxygen ~/carla-simulator.github.io/' /* From c8acb3942336f769120e01f99ad4acd5cf56493f Mon Sep 17 00:00:00 2001 From: MattRoweEAIF Date: Tue, 16 Jan 2024 10:31:51 +0100 Subject: [PATCH 030/105] replaced final aws links --- Docs/tuto_A_add_vehicle.md | 6 +++--- Docs/tuto_G_carsim_integration.md | 2 +- Docs/tuto_G_pedestrian_bones.md | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/Docs/tuto_A_add_vehicle.md b/Docs/tuto_A_add_vehicle.md index 635290f37..db008911e 100644 --- a/Docs/tuto_A_add_vehicle.md +++ b/Docs/tuto_A_add_vehicle.md @@ -13,7 +13,7 @@ This tutorial details how to add a new vehicle to CARLA. There are two sections, --- ## Add a 4 wheeled vehicle -Vehicles added to CARLA need to use a __common base skeleton__ which is found [__here__](https://carla-assets.s3.eu-west-3.amazonaws.com/fbx/VehicleSkeleton.rar). This link will download a folder called `VehicleSkeleton.rar` which contains the base skeleton in two different `.fbx` formats, one in ASCII and the other in binary. The format you use will depend on your 3D modeling software requirements. +Vehicles added to CARLA need to use a __common base skeleton__ which is found [__here__](https://carla-assets.s3.us-east-005.backblazeb2.com/fbx/VehicleSkeleton.rar). This link will download a folder called `VehicleSkeleton.rar` which contains the base skeleton in two different `.fbx` formats, one in ASCII and the other in binary. The format you use will depend on your 3D modeling software requirements. __The positions of the skeleton bones can be changed but any other manipulation such as rotation, addition of new bones, or changing the current hierarchy will lead to errors. __ @@ -52,7 +52,7 @@ We recommend that you divide the vehicle into the following materials: - __Lights__: Headlights, indicator lights, etc. - __LightGlass_Ext__: A layer of glass that allows visibility from the outside to the inside of the light. - __LightGlass_Int__: A layer of glass that allows visibility from the inside to the outside of the light. -- __LicensePlate__: A rectangular plane of 29x12 cm. You can use the CARLA provided `.fbx` for best results, download it [here](https://carla-assets.s3.eu-west-3.amazonaws.com/fbx/LicensePlate.rar). The texture will be assigned automatically in Unreal Engine. +- __LicensePlate__: A rectangular plane of 29x12 cm. You can use the CARLA provided `.fbx` for best results, download it [here](https://carla-assets.s3.us-east-005.backblazeb2.com/fbx/LicensePlate.rar). The texture will be assigned automatically in Unreal Engine. - __Interior__: Any other details that don't fit in the above sections can go into _Interior_. Materials should be named using the format `M_CarPart_CarName`, e.g., `M_Bodywork_Mustang`. @@ -278,7 +278,7 @@ All other parameters such as engine, transmission, steering curve, are the same --- ## Add a 2 wheeled vehicle -Adding 2 wheeled vehicles is similar to adding a 4 wheeled one but due to the complexity of the animation you'll need to set up aditional bones to guide the driver's animation. [Here](https://carla-assets.s3.eu-west-3.amazonaws.com/fbx/BikeSkeleton.rar) is the link to the reference skeleton for 2 wheeled vehicles. +Adding 2 wheeled vehicles is similar to adding a 4 wheeled one but due to the complexity of the animation you'll need to set up aditional bones to guide the driver's animation. [Here](https://carla-assets.s3.us-east-005.backblazeb2.com/fbx/BikeSkeleton.rar) is the link to the reference skeleton for 2 wheeled vehicles. As with the 4 wheeled vehicles, orient the model towards positive "x" and every bone axis towards positive x and with the z axis facing upwards. diff --git a/Docs/tuto_G_carsim_integration.md b/Docs/tuto_G_carsim_integration.md index c828fc6f6..b973590bf 100644 --- a/Docs/tuto_G_carsim_integration.md +++ b/Docs/tuto_G_carsim_integration.md @@ -25,7 +25,7 @@ This page shows you how to generate a `.sim` file, explains how vehicle dimensio __For Ubuntu__: 1. Download the plugin [here](https://www.carsim.com/users/unreal_plugin/unreal_plugin_2020_0.php). - 2. Replace the file `CarSim.Build.cs` with the file found [here](https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/CarSim.Build.cs) in order to use the correct solver for Ubuntu. + 2. Replace the file `CarSim.Build.cs` with the file found [here](https://carla-assets.s3.us-east-005.backblazeb2.com/Backup/CarSim.Build.cs) in order to use the correct solver for Ubuntu. 3. This step can be skipped if you are using the packaged version of CARLA. The packaged version has already been compiled using this flag but if you are building CARLA from source then you will need to compile the server with the `--carsim` flag. diff --git a/Docs/tuto_G_pedestrian_bones.md b/Docs/tuto_G_pedestrian_bones.md index bbd459a67..48358c2b2 100644 --- a/Docs/tuto_G_pedestrian_bones.md +++ b/Docs/tuto_G_pedestrian_bones.md @@ -147,7 +147,7 @@ def build_projection_matrix(w, h, fov): ## Build the skeleton -Now we can put the moving parts together. First, gather the bone coordinates from the simulation using `pedestrian.get_bones()` and then put together the skeleton and project it onto the 2D imaging plane of the camera sensor. The bones are joined into the complete skeleton using the pairs defined in __skeleton.txt__ that can be downloaded [__here__](https://carla-assets.s3.eu-west-3.amazonaws.com/fbx/skeleton.txt). +Now we can put the moving parts together. First, gather the bone coordinates from the simulation using `pedestrian.get_bones()` and then put together the skeleton and project it onto the 2D imaging plane of the camera sensor. The bones are joined into the complete skeleton using the pairs defined in __skeleton.txt__ that can be downloaded [__here__](https://carla-assets.s3.us-east-005.backblazeb2.com/fbx/skeleton.txt). We need a function to iterate through the bone pairs defined in __skeleton.txt__ and join the bone coordinates into lines that can be overlayed onto a camera sensor image. From 5ae0e4ee089617fb64501604afdedcf7f912e720 Mon Sep 17 00:00:00 2001 From: xavisolesoft Date: Wed, 17 Jan 2024 08:30:59 +0100 Subject: [PATCH 031/105] Doc: Add Ubuntu 22.04 build steps --- Docs/build_linux.md | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/Docs/build_linux.md b/Docs/build_linux.md index 611f0cd2d..704aa8447 100644 --- a/Docs/build_linux.md +++ b/Docs/build_linux.md @@ -48,6 +48,16 @@ wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add To avoid compatibility issues between Unreal Engine and the CARLA dependencies, use the same compiler version and C++ runtime library to compile everything. The CARLA team uses clang-8 (or clang-10 in Ubuntu 20.04) and LLVM's libc++. Change the default clang version to compile Unreal Engine and the CARLA dependencies. +__Ubuntu 22.04__. +```sh +sudo apt-add-repository "deb http://archive.ubuntu.com/ubuntu focal main universe" +sudo apt-get update +sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python3 python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git git-lfs +sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 && +sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180 && +sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 180 +``` + __Ubuntu 20.04__. ```sh sudo apt-add-repository "deb http://apt.llvm.org/focal/ llvm-toolchain-focal main" From 9caf9303e6a840df80df575f47e95d05db30ef15 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 17 Jan 2024 11:40:11 +0100 Subject: [PATCH 032/105] spliting documentation in 2 stages and use scmGit for managing documentation repo access --- Jenkinsfile_new | 77 ++++++++++++++++++++++++------------------------- 1 file changed, 38 insertions(+), 39 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 35263ea1e..523a54771 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -152,54 +152,53 @@ pipeline } } */ - stage('TEST: ubuntu Doxygen') + + stage('TEST: ubuntu Doxygen generation') + { + when { branch "ruben/jenkins_migration" } + steps + { + sh 'make docs' + sh 'tar -czf carla_doc.tar.gz ./Doxygen' + stash includes: 'carla_doc.tar.gz', name: 'carla_docs' + sh 'cp -rf ./Doxygen ~/carla-simulator.github.io/' + /* + sh ''' + cd ~/carla-simulator.github.io + git add Doxygen + git commit -m "Updated c++ docs" || true + git push + ''' + */ + } + } + + stage('TEST: ubuntu Doxygen generation') + { + when { branch "ruben/jenkins_migration" } + steps + { + sh 'make docs' + sh 'tar -czf carla_doc.tar.gz ./Doxygen' + stash includes: 'carla_doc.tar.gz', name: 'carla_docs' + } + } + + stage('TEST: ubuntu Doxygen upload') { when { branch "ruben/jenkins_migration" } steps { checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) - sh 'make docs' - sh 'cp -rf ./Doxygen ~/carla-simulator.github.io/' - /* + unstash name: 'carla_docs' + sh ''' - cd ~/carla-simulator.github.io + tar -xvzf carla.doc.tar.gz + ls git add Doxygen git commit -m "Updated c++ docs" || true - git push ''' - */ - } - post - { - always - { - deleteDir() - } - } - } - - stage('ubuntu Doxygen') - { - when { anyOf { branch "master"; branch "dev"; buildingTag() } } - steps - { - sh 'rm -rf ~/carla-simulator.github.io/Doxygen' - sh ''' - cd ~/carla-simulator.github.io - git remote set-url origin git@docs:carla-simulator/carla-simulator.github.io.git - git fetch - git checkout -B master origin/master - ''' - sh 'make docs' - sh 'cp -rf ./Doxygen ~/carla-simulator.github.io/' - /* - sh ''' - cd ~/carla-simulator.github.io - git add Doxygen - git commit -m "Updated c++ docs" || true - git push - ''' - */ + // don't forgive git push } post { From f5a629d718e749bcb42603c2057bc7748846b015 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 17 Jan 2024 11:43:11 +0100 Subject: [PATCH 033/105] delete duplicated stage --- Jenkinsfile_new | 20 -------------------- 1 file changed, 20 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 523a54771..e5bb4ccf5 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -153,26 +153,6 @@ pipeline } */ - stage('TEST: ubuntu Doxygen generation') - { - when { branch "ruben/jenkins_migration" } - steps - { - sh 'make docs' - sh 'tar -czf carla_doc.tar.gz ./Doxygen' - stash includes: 'carla_doc.tar.gz', name: 'carla_docs' - sh 'cp -rf ./Doxygen ~/carla-simulator.github.io/' - /* - sh ''' - cd ~/carla-simulator.github.io - git add Doxygen - git commit -m "Updated c++ docs" || true - git push - ''' - */ - } - } - stage('TEST: ubuntu Doxygen generation') { when { branch "ruben/jenkins_migration" } From c26ba1c52baf7e0dbfbba8236dbb826f5991185c Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 17 Jan 2024 12:26:15 +0100 Subject: [PATCH 034/105] fix bad filename to uncompress --- Jenkinsfile_new | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index e5bb4ccf5..0b3d4b599 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -173,7 +173,7 @@ pipeline unstash name: 'carla_docs' sh ''' - tar -xvzf carla.doc.tar.gz + tar -xvzf carla_doc.tar.gz ls git add Doxygen git commit -m "Updated c++ docs" || true From b33c949e43c114608a382906024aa87bd499e22c Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 17 Jan 2024 13:45:52 +0100 Subject: [PATCH 035/105] basic pipeline stages to test --- Jenkinsfile_new | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 0b3d4b599..44e79a3a1 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -24,7 +24,7 @@ pipeline } stages { - /*stage('ubuntu setup') + stage('ubuntu setup') { steps { @@ -151,7 +151,6 @@ pipeline //sh 'make deploy ARGS="--replace-latest --docker-push"' } } - */ stage('TEST: ubuntu Doxygen generation') { From 86dcd957bfd2abac2bd693aeac4acc905f3032a0 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Thu, 18 Jan 2024 01:39:49 +0100 Subject: [PATCH 036/105] gpu machine does git checkout --- Jenkinsfile_new | 2 -- 1 file changed, 2 deletions(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 44e79a3a1..69e187e56 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -97,7 +97,6 @@ pipeline stage('ubuntu smoke tests') { agent { label "ubuntu && gpu" } - options { skipDefaultCheckout true } steps { unstash name: 'ubuntu_eggs' @@ -173,7 +172,6 @@ pipeline sh ''' tar -xvzf carla_doc.tar.gz - ls git add Doxygen git commit -m "Updated c++ docs" || true ''' From b2454be45fe1e01fda7e447e4e69bd8854c43169 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Thu, 25 Jan 2024 16:10:54 +0100 Subject: [PATCH 037/105] minor changes --- Jenkinsfile_new | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile_new b/Jenkinsfile_new index 69e187e56..946be60b9 100644 --- a/Jenkinsfile_new +++ b/Jenkinsfile_new @@ -175,7 +175,7 @@ pipeline git add Doxygen git commit -m "Updated c++ docs" || true ''' - // don't forgive git push + // don't forget git push } post { From 8d181b666b81c0d298d8f5042d4f3944c6cf5f52 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Thu, 25 Jan 2024 16:56:16 +0100 Subject: [PATCH 038/105] move Jenkinsfile_new to Jenkinsfile --- Jenkinsfile | 153 +++++++++--------------- Jenkinsfile_new | 307 ------------------------------------------------ 2 files changed, 58 insertions(+), 402 deletions(-) delete mode 100644 Jenkinsfile_new diff --git a/Jenkinsfile b/Jenkinsfile index 04849a567..946be60b9 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -11,28 +11,13 @@ pipeline stages { - stage('Creating nodes') - { - agent { label "master" } - steps - { - script - { - JOB_ID = "${env.BUILD_TAG}" - jenkinsLib = load("/home/jenkins/jenkins_426.groovy") - - jenkinsLib.CreateUbuntuBuildNode(JOB_ID) - jenkinsLib.CreateWindowsBuildNode(JOB_ID) - } - } - } stage('Building CARLA') { parallel { stage('ubuntu') { - agent { label "ubuntu && build && ${JOB_ID}" } + agent { label "ubuntu" } environment { UE4_ROOT = '/home/jenkins/UnrealEngine_4.26' @@ -44,7 +29,7 @@ pipeline steps { sh 'git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject' - sh 'make setup ARGS="--python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' + sh 'make setup ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' } } stage('ubuntu build') @@ -52,7 +37,7 @@ pipeline steps { sh 'make LibCarla' - sh 'make PythonAPI ARGS="--python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make PythonAPI ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make CarlaUE4Editor ARGS="--chrono"' sh 'make plugins' sh 'make examples' @@ -72,7 +57,7 @@ pipeline { steps { - sh 'make check ARGS="--all --xml --python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make check ARGS="--all --xml --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' } post { @@ -94,8 +79,8 @@ pipeline { steps { - sh 'make package ARGS="--python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' - sh 'make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.7,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make package ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' + sh 'make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make examples ARGS="localhost 3654"' } post @@ -107,24 +92,11 @@ pipeline // stash includes: 'Dist/AdditionalMaps*.tar.gz', name: 'ubuntu_package2' stash includes: 'Examples/', name: 'ubuntu_examples' } - success - { - node('master') - { - script - { - JOB_ID = "${env.BUILD_TAG}" - jenkinsLib = load("/home/jenkins/jenkins_426.groovy") - - jenkinsLib.CreateUbuntuTestNode(JOB_ID) - } - } - } } } stage('ubuntu smoke tests') { - agent { label "ubuntu && gpu && ${JOB_ID}" } + agent { label "ubuntu && gpu" } steps { unstash name: 'ubuntu_eggs' @@ -135,7 +107,7 @@ pipeline sh 'tar -xvzf Dist/CARLA*.tar.gz -C Dist/' // sh 'tar -xvzf Dist/AdditionalMaps*.tar.gz -C Dist/' sh 'DISPLAY= ./Dist/CarlaUE4.sh -nullrhi -RenderOffScreen --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &' - sh 'make smoke_tests ARGS="--xml --python-version=3.7 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make smoke_tests ARGS="--xml --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make run-examples ARGS="localhost 3654"' } post @@ -145,26 +117,28 @@ pipeline archiveArtifacts 'CarlaUE4.log' junit 'Build/test-results/smoke-tests-*.xml' deleteDir() - node('master') - { - script - { - JOB_ID = "${env.BUILD_TAG}" - jenkinsLib = load("/home/jenkins/jenkins_426.groovy") - - jenkinsLib.DeleteUbuntuTestNode(JOB_ID) - } - } } } } + + stage('TEST: ubuntu deploy sim') + { + when { branch "ruben/jenkins_migration"; } + steps + { + sh 'git checkout .' + //sh 'make deploy ARGS="--replace-latest"' + } + + } + stage('ubuntu deploy dev') { when { branch "dev"; } steps { sh 'git checkout .' - sh 'make deploy ARGS="--replace-latest"' + //sh 'make deploy ARGS="--replace-latest"' } } stage('ubuntu deploy master') @@ -173,29 +147,35 @@ pipeline steps { sh 'git checkout .' - sh 'make deploy ARGS="--replace-latest --docker-push"' + //sh 'make deploy ARGS="--replace-latest --docker-push"' } } - stage('ubuntu Doxygen') + + stage('TEST: ubuntu Doxygen generation') { - when { anyOf { branch "master"; branch "dev"; buildingTag() } } + when { branch "ruben/jenkins_migration" } steps { - sh 'rm -rf ~/carla-simulator.github.io/Doxygen' - sh ''' - cd ~/carla-simulator.github.io - git remote set-url origin git@docs:carla-simulator/carla-simulator.github.io.git - git fetch - git checkout -B master origin/master - ''' sh 'make docs' - sh 'cp -rf ./Doxygen ~/carla-simulator.github.io/' + sh 'tar -czf carla_doc.tar.gz ./Doxygen' + stash includes: 'carla_doc.tar.gz', name: 'carla_docs' + } + } + + stage('TEST: ubuntu Doxygen upload') + { + when { branch "ruben/jenkins_migration" } + steps + { + checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) + unstash name: 'carla_docs' + sh ''' - cd ~/carla-simulator.github.io + tar -xvzf carla_doc.tar.gz git add Doxygen git commit -m "Updated c++ docs" || true - git push ''' + // don't forget git push } post { @@ -211,23 +191,14 @@ pipeline always { deleteDir() - - node('master') - { - script - { - JOB_ID = "${env.BUILD_TAG}" - jenkinsLib = load("/home/jenkins/jenkins_426.groovy") - - jenkinsLib.DeleteUbuntuBuildNode(JOB_ID) - } - } } } } + /* stage('windows') { - agent { label "windows && build && ${JOB_ID}" } + + agent { label "windows" } environment { UE4_ROOT = 'C:\\UE_4.26' @@ -239,11 +210,11 @@ pipeline steps { bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject """ bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat make setup ARGS="--chrono" """ } @@ -253,19 +224,19 @@ pipeline steps { bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat make LibCarla """ bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat make PythonAPI """ bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat make CarlaUE4Editor ARGS="--chrono" """ bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat make plugins """ } @@ -283,7 +254,7 @@ pipeline steps { bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat call Update.bat """ } @@ -293,11 +264,11 @@ pipeline steps { bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat make package ARGS="--chrono" """ bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate" """ } @@ -307,37 +278,29 @@ pipeline } } } + stage('windows deploy') { when { anyOf { branch "master"; branch "dev"; buildingTag() } } steps { bat """ - call ../setEnv64.bat + call C:\\Users\\jenkins\\setEnv64.bat git checkout . - make deploy ARGS="--replace-latest" + REM make deploy ARGS="--replace-latest" """ } } + } post { always { deleteDir() - - node('master') - { - script - { - JOB_ID = "${env.BUILD_TAG}" - jenkinsLib = load("/home/jenkins/jenkins_426.groovy") - - jenkinsLib.DeleteWindowsBuildNode(JOB_ID) - } - } } } - } + }*/ + } } } diff --git a/Jenkinsfile_new b/Jenkinsfile_new deleted file mode 100644 index 946be60b9..000000000 --- a/Jenkinsfile_new +++ /dev/null @@ -1,307 +0,0 @@ -#!/usr/bin/env groovy - -pipeline -{ - agent none - - options - { - buildDiscarder(logRotator(numToKeepStr: '3', artifactNumToKeepStr: '3')) - } - - stages - { - stage('Building CARLA') - { - parallel - { - stage('ubuntu') - { - agent { label "ubuntu" } - environment - { - UE4_ROOT = '/home/jenkins/UnrealEngine_4.26' - } - stages - { - stage('ubuntu setup') - { - steps - { - sh 'git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject' - sh 'make setup ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' - } - } - stage('ubuntu build') - { - steps - { - sh 'make LibCarla' - sh 'make PythonAPI ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' - sh 'make CarlaUE4Editor ARGS="--chrono"' - sh 'make plugins' - sh 'make examples' - } - post - { - always - { - archiveArtifacts 'PythonAPI/carla/dist/*.egg' - archiveArtifacts 'PythonAPI/carla/dist/*.whl' - stash includes: 'PythonAPI/carla/dist/*.egg', name: 'ubuntu_eggs' - stash includes: 'PythonAPI/carla/dist/*.whl', name: 'ubuntu_wheels' - } - } - } - stage('ubuntu unit tests') - { - steps - { - sh 'make check ARGS="--all --xml --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' - } - post - { - always - { - junit 'Build/test-results/*.xml' - archiveArtifacts 'profiler.csv' - } - } - } - stage('ubuntu retrieve content') - { - steps - { - sh './Update.sh' - } - } - stage('ubuntu package') - { - steps - { - sh 'make package ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' - sh 'make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' - sh 'make examples ARGS="localhost 3654"' - } - post - { - always - { - archiveArtifacts 'Dist/*.tar.gz' - stash includes: 'Dist/CARLA*.tar.gz', name: 'ubuntu_package' - // stash includes: 'Dist/AdditionalMaps*.tar.gz', name: 'ubuntu_package2' - stash includes: 'Examples/', name: 'ubuntu_examples' - } - } - } - stage('ubuntu smoke tests') - { - agent { label "ubuntu && gpu" } - steps - { - unstash name: 'ubuntu_eggs' - unstash name: 'ubuntu_wheels' - unstash name: 'ubuntu_package' - // unstash name: 'ubuntu_package2' - unstash name: 'ubuntu_examples' - sh 'tar -xvzf Dist/CARLA*.tar.gz -C Dist/' - // sh 'tar -xvzf Dist/AdditionalMaps*.tar.gz -C Dist/' - sh 'DISPLAY= ./Dist/CarlaUE4.sh -nullrhi -RenderOffScreen --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &' - sh 'make smoke_tests ARGS="--xml --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' - sh 'make run-examples ARGS="localhost 3654"' - } - post - { - always - { - archiveArtifacts 'CarlaUE4.log' - junit 'Build/test-results/smoke-tests-*.xml' - deleteDir() - } - } - } - - stage('TEST: ubuntu deploy sim') - { - when { branch "ruben/jenkins_migration"; } - steps - { - sh 'git checkout .' - //sh 'make deploy ARGS="--replace-latest"' - } - - } - - stage('ubuntu deploy dev') - { - when { branch "dev"; } - steps - { - sh 'git checkout .' - //sh 'make deploy ARGS="--replace-latest"' - } - } - stage('ubuntu deploy master') - { - when { anyOf { branch "master"; buildingTag() } } - steps - { - sh 'git checkout .' - //sh 'make deploy ARGS="--replace-latest --docker-push"' - } - } - - stage('TEST: ubuntu Doxygen generation') - { - when { branch "ruben/jenkins_migration" } - steps - { - sh 'make docs' - sh 'tar -czf carla_doc.tar.gz ./Doxygen' - stash includes: 'carla_doc.tar.gz', name: 'carla_docs' - } - } - - stage('TEST: ubuntu Doxygen upload') - { - when { branch "ruben/jenkins_migration" } - steps - { - checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) - unstash name: 'carla_docs' - - sh ''' - tar -xvzf carla_doc.tar.gz - git add Doxygen - git commit -m "Updated c++ docs" || true - ''' - // don't forget git push - } - post - { - always - { - deleteDir() - } - } - } - } - post - { - always - { - deleteDir() - } - } - } - /* - stage('windows') - { - - agent { label "windows" } - environment - { - UE4_ROOT = 'C:\\UE_4.26' - } - stages - { - stage('windows setup') - { - steps - { - bat """ - call C:\\Users\\jenkins\\setEnv64.bat - git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject - """ - bat """ - call C:\\Users\\jenkins\\setEnv64.bat - make setup ARGS="--chrono" - """ - } - } - stage('windows build') - { - steps - { - bat """ - call C:\\Users\\jenkins\\setEnv64.bat - make LibCarla - """ - bat """ - call C:\\Users\\jenkins\\setEnv64.bat - make PythonAPI - """ - bat """ - call C:\\Users\\jenkins\\setEnv64.bat - make CarlaUE4Editor ARGS="--chrono" - """ - bat """ - call C:\\Users\\jenkins\\setEnv64.bat - make plugins - """ - } - post - { - always - { - archiveArtifacts 'PythonAPI/carla/dist/*.egg' - archiveArtifacts 'PythonAPI/carla/dist/*.whl' - } - } - } - stage('windows retrieve content') - { - steps - { - bat """ - call C:\\Users\\jenkins\\setEnv64.bat - call Update.bat - """ - } - } - stage('windows package') - { - steps - { - bat """ - call C:\\Users\\jenkins\\setEnv64.bat - make package ARGS="--chrono" - """ - bat """ - call C:\\Users\\jenkins\\setEnv64.bat - make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate" - """ - } - post { - always { - archiveArtifacts 'Build/UE4Carla/*.zip' - } - } - } - - stage('windows deploy') - { - when { anyOf { branch "master"; branch "dev"; buildingTag() } } - steps { - bat """ - call C:\\Users\\jenkins\\setEnv64.bat - git checkout . - REM make deploy ARGS="--replace-latest" - """ - } - } - - } - post - { - always - { - deleteDir() - } - } - }*/ - - } - } - } -} From cf89f8ac722a31f26cc88487a3b0ff95879f6f7a Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Thu, 25 Jan 2024 17:43:46 +0100 Subject: [PATCH 039/105] test backblaze copy --- Jenkinsfile | 17 +++++++++-------- Util/BuildTools/Deploy.sh | 36 +++++++++++++++++++++++++++++++----- 2 files changed, 40 insertions(+), 13 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 946be60b9..60e451f6e 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -127,7 +127,7 @@ pipeline steps { sh 'git checkout .' - //sh 'make deploy ARGS="--replace-latest"' + sh 'make deploy ARGS="--test"' } } @@ -138,7 +138,7 @@ pipeline steps { sh 'git checkout .' - //sh 'make deploy ARGS="--replace-latest"' + sh 'make deploy ARGS="--replace-latest"' } } stage('ubuntu deploy master') @@ -147,13 +147,13 @@ pipeline steps { sh 'git checkout .' - //sh 'make deploy ARGS="--replace-latest --docker-push"' + sh 'make deploy ARGS="--replace-latest --docker-push"' } } - stage('TEST: ubuntu Doxygen generation') + stage('ubuntu Doxygen generation') { - when { branch "ruben/jenkins_migration" } + when { anyOf { branch "master"; branch "dev"; buildingTag() } } steps { sh 'make docs' @@ -162,9 +162,9 @@ pipeline } } - stage('TEST: ubuntu Doxygen upload') + stage('ubuntu Doxygen upload') { - when { branch "ruben/jenkins_migration" } + when { anyOf { branch "master"; branch "dev"; buildingTag() } } steps { checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) @@ -174,8 +174,9 @@ pipeline tar -xvzf carla_doc.tar.gz git add Doxygen git commit -m "Updated c++ docs" || true + git push + ''' - // don't forget git push } post { diff --git a/Util/BuildTools/Deploy.sh b/Util/BuildTools/Deploy.sh index 55fb6beba..3d3e45a80 100755 --- a/Util/BuildTools/Deploy.sh +++ b/Util/BuildTools/Deploy.sh @@ -12,6 +12,10 @@ AWS_COPY="aws s3 cp" DOCKER="docker" UNTAR="tar -xvzf" UPLOAD_MAPS=true +PROFILE="--profile Jenkins-CVC" +ENDPOINT="--endpoint-url=https://s3.us-east-005.backblazeb2.com/" +TEST=false + # ============================================================================== # -- Parse arguments ----------------------------------------------------------- @@ -21,12 +25,15 @@ DOC_STRING="Upload latest build to S3." USAGE_STRING="Usage: $0 [-h|--help] [--replace-latest] [--docker-push] [--dry-run]" -OPTS=`getopt -o h --long help,replace-latest,docker-push,dry-run -n 'parse-options' -- "$@"` +OPTS=`getopt -o h --long help,replace-latest,docker-push,dry-run,test -n 'parse-options' -- "$@"` eval set -- "$OPTS" while [[ $# -gt 0 ]]; do case "$1" in + --test ) + TEST=true + shift ;; --replace-latest ) REPLACE_LATEST=true; shift ;; @@ -86,6 +93,25 @@ if [ ! -f ${LATEST_PACKAGE_PATH} ]; then fatal_error "Latest package not found, please run 'make package'." fi + +# ============================================================================== +# -- TEST -------------------------------------------------------------------- +# ============================================================================== + +if ${TEST} ; then + LATEST_PACKAGE=test_CARLA_${REPOSITORY_TAG}.tar.gz + LATEST_PACKAGE_PATH=./${LATEST_PACKAGE} + LATEST_PACKAGE2=test_AdditionalMaps_${REPOSITORY_TAG}.tar.gz + LATEST_PACKAGE_PATH2=./${LATEST_PACKAGE2} + + DEPLOY_NAME=test_CARLA_${REPOSITORY_TAG}.tar.gz + DEPLOY_NAME2=test_AdditionalMaps_${REPOSITORY_TAG}.tar.gz + + touch ${LATEST_PACKAGE} + touch ${LATEST_PACKAGE2} + +fi + # ============================================================================== # -- Upload -------------------------------------------------------------------- # ============================================================================== @@ -93,10 +119,10 @@ fi DEPLOY_URI=${S3_PREFIX}/${DEPLOY_NAME} DEPLOY_URI2=${S3_PREFIX}/${DEPLOY_NAME2} -${AWS_COPY} ${LATEST_PACKAGE_PATH} ${DEPLOY_URI} +${AWS_COPY} ${LATEST_PACKAGE_PATH} ${DEPLOY_URI} ${ENDPOINT} ${PROFILE} log "Latest build uploaded to ${DEPLOY_URI}." -${AWS_COPY} ${LATEST_PACKAGE_PATH2} ${DEPLOY_URI2} +${AWS_COPY} ${LATEST_PACKAGE_PATH2} ${DEPLOY_URI2} ${ENDPOINT} ${PROFILE} log "Latest build uploaded to ${DEPLOY_URI2}." # ============================================================================== @@ -105,10 +131,10 @@ log "Latest build uploaded to ${DEPLOY_URI2}." if ${REPLACE_LATEST} ; then - ${AWS_COPY} ${DEPLOY_URI} ${LATEST_DEPLOY_URI} + ${AWS_COPY} ${DEPLOY_URI} ${LATEST_DEPLOY_URI} ${ENDPOINT} ${PROFILE} log "Latest build uploaded to ${LATEST_DEPLOY_URI}." - ${AWS_COPY} ${DEPLOY_URI2} ${LATEST_DEPLOY_URI2} + ${AWS_COPY} ${DEPLOY_URI2} ${LATEST_DEPLOY_URI2} ${ENDPOINT} ${PROFILE} log "Latest build uploaded to ${LATEST_DEPLOY_URI2}." fi From f3d7dd080d82097ee73b950133331a23ab377ec9 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Sun, 28 Jan 2024 21:57:34 +0100 Subject: [PATCH 040/105] Access files through https --- Update.bat | 2 +- Update.sh | 7 +++++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/Update.bat b/Update.bat index 30a6ccb52..9554933c0 100644 --- a/Update.bat +++ b/Update.bat @@ -19,7 +19,7 @@ for /F "delims=" %%a in (%CONTENT_VERSIONS%) do ( set "lastLine=%%a" ) set CONTENT_ID=%lastLine:~-16,16% -set CONTENT_LINK=http://carla-assets.s3.us-east-005.backblazeb2.com/%CONTENT_ID%.tar.gz +set CONTENT_LINK=https://carla-assets.s3.us-east-005.backblazeb2.com/%CONTENT_ID%.tar.gz if "%CONTENT_ID:~0,2%"=="20" ( set CONTENT_FILE=%CONTENT_FOLDER%/%CONTENT_ID%.tar.gz set CONTENT_FILE_TAR=%CONTENT_FOLDER%/%CONTENT_ID%.tar diff --git a/Update.sh b/Update.sh index 58d8a1999..d6a5c0192 100755 --- a/Update.sh +++ b/Update.sh @@ -41,13 +41,16 @@ done # -- Set up environment -------------------------------------------------------- # ============================================================================== +MAX_PARALLELL_DOWNLOADS=1 +MAX_CONNECTIONS_PER_SERVER=1 + SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" pushd "$SCRIPT_DIR" >/dev/null CONTENT_FOLDER="${SCRIPT_DIR}/Unreal/CarlaUE4/Content/Carla" CONTENT_ID=$(tac $SCRIPT_DIR/Util/ContentVersions.txt | egrep -m 1 . | rev | cut -d' ' -f1 | rev) -CONTENT_LINK=http://carla-assets.s3.us-east-005.backblazeb2.com/${CONTENT_ID}.tar.gz +CONTENT_LINK=https://carla-assets.s3.us-east-005.backblazeb2.com/${CONTENT_ID}.tar.gz VERSION_FILE="${CONTENT_FOLDER}/.version" @@ -60,7 +63,7 @@ function download_content { mkdir -p Content if hash aria2c 2>/dev/null; then echo -e "${CONTENT_LINK}\n\tout=Content.tar.gz" > .aria2c.input - aria2c -j16 -x16 --input-file=.aria2c.input + aria2c -j${MAX_PARALLELL_DOWNLOADS} -x${MAX_CONNECTIONS_PER_SERVER} --input-file=.aria2c.input rm -f .aria2c.input else wget -c ${CONTENT_LINK} -O Content.tar.gz From e9700ab493141f20504098b3491eb4cf6a2b6c04 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 29 Jan 2024 14:29:13 +0100 Subject: [PATCH 041/105] Test documentation upload to repo --- Jenkinsfile | 33 +++++++++++++++++++++++++++++++++ 1 file changed, 33 insertions(+) diff --git a/Jenkinsfile b/Jenkinsfile index 60e451f6e..3f42c127a 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -175,7 +175,40 @@ pipeline git add Doxygen git commit -m "Updated c++ docs" || true git push + ''' + } + post + { + always + { + deleteDir() + } + } + } + stage('TEST: ubuntu Doxygen generation') + { + when { branch "ruben/jenkins_migration"; } + steps + { + sh 'make docs' + sh 'tar -czf carla_doc.tar.gz ./Doxygen' + stash includes: 'carla_doc.tar.gz', name: 'carla_docs' + } + } + stage('TEST: ubuntu Doxygen upload') + { + when { branch "ruben/jenkins_migration"; } + steps + { + checkout scmGit(branches: [[name: '*/ruben/jenkins_migration']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) + unstash name: 'carla_docs' + + sh ''' + tar -xvzf carla_doc.tar.gz + git add Doxygen + git commit -m "Updated c++ docs" || true + git push ''' } post From ecd2b0255ce3559d77e9a9c66d1e3060db381ee6 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 29 Jan 2024 14:45:53 +0100 Subject: [PATCH 042/105] using credentials to push to documentation repo --- Jenkinsfile | 29 ++++++++++++++++------------- 1 file changed, 16 insertions(+), 13 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 3f42c127a..bb6653e2f 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -170,12 +170,14 @@ pipeline checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) unstash name: 'carla_docs' - sh ''' - tar -xvzf carla_doc.tar.gz - git add Doxygen - git commit -m "Updated c++ docs" || true - git push - ''' + withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { + sh ''' + tar -xvzf carla_doc.tar.gz + git add Doxygen + git commit -m "Updated c++ docs" || true + git push + ''' + } } post { @@ -203,13 +205,14 @@ pipeline { checkout scmGit(branches: [[name: '*/ruben/jenkins_migration']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) unstash name: 'carla_docs' - - sh ''' - tar -xvzf carla_doc.tar.gz - git add Doxygen - git commit -m "Updated c++ docs" || true - git push - ''' + withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { + sh ''' + tar -xvzf carla_doc.tar.gz + git add Doxygen + git commit -m "Updated c++ docs" || true + git push + ''' + } } post { From 7839ef4e4aadf0de0061bfba0c6009bf86ed2f04 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 29 Jan 2024 23:18:43 +0100 Subject: [PATCH 043/105] fix docu repo checkout pointing to branch head --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index bb6653e2f..641bead98 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -203,7 +203,7 @@ pipeline when { branch "ruben/jenkins_migration"; } steps { - checkout scmGit(branches: [[name: '*/ruben/jenkins_migration']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) + checkout scmGit(branches: [[name: '*/ruben/jenkins_migration']], extensions: [checkoutOption(120), [[$class: 'LocalBranch', localBranch: "**"]], cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) unstash name: 'carla_docs' withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { sh ''' From fe34fb2310ba4e558f86fb4d8ee3116342309ed4 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 30 Jan 2024 12:29:38 +0100 Subject: [PATCH 044/105] fix localBranch option usage --- Jenkinsfile | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 641bead98..f081b1130 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -203,7 +203,20 @@ pipeline when { branch "ruben/jenkins_migration"; } steps { - checkout scmGit(branches: [[name: '*/ruben/jenkins_migration']], extensions: [checkoutOption(120), [[$class: 'LocalBranch', localBranch: "**"]], cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) + checkout scmGit( + branches: [[name: '*/ruben/jenkins_migration']], + extensions: [ + checkoutOption(120), + localBranch("**"), + cloneOption(noTags:false, reference:'', shallow: false, timeout:120) + ], + userRemoteConfigs: [ + [ + credentialsId: 'github_token_as_pwd_2', + url: 'https://github.com/carla-simulator/carla-simulator.github.io.git' + ] + ] + ) unstash name: 'carla_docs' withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { sh ''' From 73318bb642b3bfb344c2e1eaba06083037e77ec0 Mon Sep 17 00:00:00 2001 From: Aaron Date: Tue, 30 Jan 2024 12:42:08 +0100 Subject: [PATCH 045/105] Updated http to https --- Update.bat | 2 +- Update.sh | 2 +- Util/BuildTools/Setup.bat | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Update.bat b/Update.bat index 30a6ccb52..9554933c0 100644 --- a/Update.bat +++ b/Update.bat @@ -19,7 +19,7 @@ for /F "delims=" %%a in (%CONTENT_VERSIONS%) do ( set "lastLine=%%a" ) set CONTENT_ID=%lastLine:~-16,16% -set CONTENT_LINK=http://carla-assets.s3.us-east-005.backblazeb2.com/%CONTENT_ID%.tar.gz +set CONTENT_LINK=https://carla-assets.s3.us-east-005.backblazeb2.com/%CONTENT_ID%.tar.gz if "%CONTENT_ID:~0,2%"=="20" ( set CONTENT_FILE=%CONTENT_FOLDER%/%CONTENT_ID%.tar.gz set CONTENT_FILE_TAR=%CONTENT_FOLDER%/%CONTENT_ID%.tar diff --git a/Update.sh b/Update.sh index 58d8a1999..7d4e3cd10 100755 --- a/Update.sh +++ b/Update.sh @@ -47,7 +47,7 @@ pushd "$SCRIPT_DIR" >/dev/null CONTENT_FOLDER="${SCRIPT_DIR}/Unreal/CarlaUE4/Content/Carla" CONTENT_ID=$(tac $SCRIPT_DIR/Util/ContentVersions.txt | egrep -m 1 . | rev | cut -d' ' -f1 | rev) -CONTENT_LINK=http://carla-assets.s3.us-east-005.backblazeb2.com/${CONTENT_ID}.tar.gz +CONTENT_LINK=https://carla-assets.s3.us-east-005.backblazeb2.com/${CONTENT_ID}.tar.gz VERSION_FILE="${CONTENT_FOLDER}/.version" diff --git a/Util/BuildTools/Setup.bat b/Util/BuildTools/Setup.bat index 344f2bb08..99dd8bb82 100644 --- a/Util/BuildTools/Setup.bat +++ b/Util/BuildTools/Setup.bat @@ -367,7 +367,7 @@ FOR /F "usebackq tokens=1,2" %%i in ("%VERSION_FILE%") do ( set ASSETS_VERSION=%%i set HASH=%%j ) -set URL=http://carla-assets.s3.us-east-005.backblazeb2.com/%HASH%.tar.gz +set URL=https://carla-assets.s3.us-east-005.backblazeb2.com/%HASH%.tar.gz rem ============================================================================ rem -- Generate CMake ---------------------------------------------------------- From a22da7136a1d2b8144313378f7b298100e1785e6 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 30 Jan 2024 13:26:53 +0100 Subject: [PATCH 046/105] test only documentation steps --- Jenkinsfile | 52 +++++++++++++++++++++++++++------------------------- 1 file changed, 27 insertions(+), 25 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index f081b1130..b657d2113 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -24,6 +24,7 @@ pipeline } stages { + /* stage('ubuntu setup') { steps @@ -161,32 +162,33 @@ pipeline stash includes: 'carla_doc.tar.gz', name: 'carla_docs' } } - - stage('ubuntu Doxygen upload') - { - when { anyOf { branch "master"; branch "dev"; buildingTag() } } - steps - { - checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) - unstash name: 'carla_docs' + */ + + // stage('ubuntu Doxygen upload') + // { + // when { anyOf { branch "master"; branch "dev"; buildingTag() } } + // steps + // { + // checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) + // unstash name: 'carla_docs' - withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { - sh ''' - tar -xvzf carla_doc.tar.gz - git add Doxygen - git commit -m "Updated c++ docs" || true - git push - ''' - } - } - post - { - always - { - deleteDir() - } - } - } + // withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { + // sh ''' + // tar -xvzf carla_doc.tar.gz + // git add Doxygen + // git commit -m "Updated c++ docs" || true + // git push + // ''' + // } + // } + // post + // { + // always + // { + // deleteDir() + // } + // } + // } stage('TEST: ubuntu Doxygen generation') { when { branch "ruben/jenkins_migration"; } From 09789f6e51f14402276c0a22a4492a9d90fb2048 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 30 Jan 2024 14:23:25 +0100 Subject: [PATCH 047/105] set doc upstream branch --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index b657d2113..28fa53e58 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -225,7 +225,7 @@ pipeline tar -xvzf carla_doc.tar.gz git add Doxygen git commit -m "Updated c++ docs" || true - git push + git push --set-upstream origin ruben/jenkins_migration ''' } } From 352fd44cc037c7e58f05236333235b3c2b687f59 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 30 Jan 2024 16:47:15 +0100 Subject: [PATCH 048/105] prepare complete test --- Jenkinsfile | 52 +++++++++++++++++++++++++--------------------------- 1 file changed, 25 insertions(+), 27 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 28fa53e58..0c4de5688 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -24,7 +24,6 @@ pipeline } stages { - /* stage('ubuntu setup') { steps @@ -161,34 +160,33 @@ pipeline sh 'tar -czf carla_doc.tar.gz ./Doxygen' stash includes: 'carla_doc.tar.gz', name: 'carla_docs' } - } - */ + } - // stage('ubuntu Doxygen upload') - // { - // when { anyOf { branch "master"; branch "dev"; buildingTag() } } - // steps - // { - // checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) - // unstash name: 'carla_docs' + stage('ubuntu Doxygen upload') + { + when { anyOf { branch "master"; branch "dev"; buildingTag() } } + steps + { + checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) + unstash name: 'carla_docs' - // withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { - // sh ''' - // tar -xvzf carla_doc.tar.gz - // git add Doxygen - // git commit -m "Updated c++ docs" || true - // git push - // ''' - // } - // } - // post - // { - // always - // { - // deleteDir() - // } - // } - // } + withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { + sh ''' + tar -xvzf carla_doc.tar.gz + git add Doxygen + git commit -m "Updated c++ docs" || true + git push + ''' + } + } + post + { + always + { + deleteDir() + } + } + } stage('TEST: ubuntu Doxygen generation') { when { branch "ruben/jenkins_migration"; } From 759273aa33c1d31a2d902c0df606ef26a194b760 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 31 Jan 2024 00:19:08 +0100 Subject: [PATCH 049/105] doc repo checkout in a new folder --- Jenkinsfile | 62 ++++++++++++++++++++++++++++------------------------- 1 file changed, 33 insertions(+), 29 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 0c4de5688..471f3fd59 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -201,39 +201,43 @@ pipeline stage('TEST: ubuntu Doxygen upload') { when { branch "ruben/jenkins_migration"; } - steps + dir('doc_repo') { - checkout scmGit( - branches: [[name: '*/ruben/jenkins_migration']], - extensions: [ - checkoutOption(120), - localBranch("**"), - cloneOption(noTags:false, reference:'', shallow: false, timeout:120) - ], - userRemoteConfigs: [ - [ - credentialsId: 'github_token_as_pwd_2', - url: 'https://github.com/carla-simulator/carla-simulator.github.io.git' - ] - ] - ) - unstash name: 'carla_docs' - withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { - sh ''' - tar -xvzf carla_doc.tar.gz - git add Doxygen - git commit -m "Updated c++ docs" || true - git push --set-upstream origin ruben/jenkins_migration - ''' - } - } - post - { - always + steps { - deleteDir() + checkout scmGit( + branches: [[name: '*/ruben/jenkins_migration']], + extensions: [ + checkoutOption(120), + localBranch("**"), + cloneOption(noTags:false, reference:'', shallow: false, timeout:120) + ], + userRemoteConfigs: [ + [ + credentialsId: 'github_token_as_pwd_2', + url: 'https://github.com/carla-simulator/carla-simulator.github.io.git' + ] + ] + ) + unstash name: 'carla_docs' + withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { + sh ''' + tar -xvzf carla_doc.tar.gz + git add Doxygen + git commit -m "Updated c++ docs" || true + git push --set-upstream origin ruben/jenkins_migration + ''' + } + } + post + { + always + { + deleteDir() + } } } + } } post From b9ae2e9ac9fc225bc87c2457190cb658a97b3619 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 31 Jan 2024 00:25:02 +0100 Subject: [PATCH 050/105] fix 'dir' wrap inside 'steps' section --- Jenkinsfile | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 471f3fd59..c6dd52d60 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -201,9 +201,9 @@ pipeline stage('TEST: ubuntu Doxygen upload') { when { branch "ruben/jenkins_migration"; } - dir('doc_repo') + steps { - steps + dir('doc_repo') { checkout scmGit( branches: [[name: '*/ruben/jenkins_migration']], @@ -229,15 +229,15 @@ pipeline ''' } } - post + + } + post + { + always { - always - { - deleteDir() - } + deleteDir() } } - } } post From 1e84ba868a29ba659a21ce2b340d98f8f47d8ec3 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 31 Jan 2024 11:25:27 +0100 Subject: [PATCH 051/105] check that documentation upload commands are done in the right place --- Jenkinsfile | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Jenkinsfile b/Jenkinsfile index c6dd52d60..f1a1fad98 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -222,6 +222,8 @@ pipeline unstash name: 'carla_docs' withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { sh ''' + pwd + ls -lh tar -xvzf carla_doc.tar.gz git add Doxygen git commit -m "Updated c++ docs" || true From f8ecc3c9cd541bf052a12fe393ff2be11e764888 Mon Sep 17 00:00:00 2001 From: xavisolesoft Date: Wed, 31 Jan 2024 14:19:26 +0100 Subject: [PATCH 052/105] USDImporter: Fix Skeletal mesh import --- .../UW_USDVehicleImporterEditorWidget.uasset | Bin 196896 -> 208914 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git 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zT|If(&sy^tq{ayB+Pz=bAO*W6Nj+l`8mkP6h>wo#9uX3TW-cHq$lUUxvWek5<_)=G(8JmFM_;Ayu4(q5`cD(XROC9E7H1iy2nxk+yz-tsV4q&E5ozXalO~(VQ zdPJl6fv^%{9?TGiH2`uUAT~NitO_283U{Q211MYkm8*(S*oZ(&nfZBK_yDL$Q}~Zi z!a%qPaLu444%*FbY=G(yWMHzu0E}cb$zDcDLURU-JDY6go{Wv_72B#7?g(62q4HCSBD@CulKZaEM(Mjh0TBJ5dI5dq+F z82Z65FckeD&`|UP?SQ@_bdiUkANYmDBGHc=sPJ-88hJK|3-B0=eqf`+(GQx=81$=x aeo!{hB1NGe7#y%5pj%|WVE=^HOaC7UP*lVK From fd08628baf25aa90af2924dfee69a26a35b97d42 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Thu, 1 Feb 2024 01:34:09 +0100 Subject: [PATCH 053/105] use a max of 16 parallel downloads --- Update.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Update.sh b/Update.sh index d6a5c0192..3c4d47e2d 100755 --- a/Update.sh +++ b/Update.sh @@ -41,8 +41,8 @@ done # -- Set up environment -------------------------------------------------------- # ============================================================================== -MAX_PARALLELL_DOWNLOADS=1 -MAX_CONNECTIONS_PER_SERVER=1 +MAX_PARALLELL_DOWNLOADS=16 +MAX_CONNECTIONS_PER_SERVER=16 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" pushd "$SCRIPT_DIR" >/dev/null From 423d979bdd8c8939e347b421878ded8236a51cff Mon Sep 17 00:00:00 2001 From: MattRoweEAIF <125647690+MattRoweEAIF@users.noreply.github.com> Date: Fri, 2 Feb 2024 18:30:38 +0100 Subject: [PATCH 054/105] added export map package instructiong (#7114) --- Docs/tuto_content_authoring_maps.md | 31 +++++++++++++++++++++++++++++ 1 file changed, 31 insertions(+) diff --git a/Docs/tuto_content_authoring_maps.md b/Docs/tuto_content_authoring_maps.md index e3dcdd0ee..d297eee9c 100644 --- a/Docs/tuto_content_authoring_maps.md +++ b/Docs/tuto_content_authoring_maps.md @@ -22,6 +22,7 @@ In this tutorial we will cover the process of creating a simple map for use with * [Next steps](#next-steps) * __[Trees and vegetation](#trees-and-vegetation)__ * [Foliage tool](#foliage-tool) +* __[Exporting a map](#exporting-a-map)__ @@ -409,6 +410,36 @@ Drag your desired foliage item into the box labeled `+ Drop Foliage Here`. Set a ![foliage_paint](img/tuto_content_authoring_maps/foliage_paint.gif) + +--- + +## Exporting a map + +To export a map as a map package that can be ingested into a standalone CARLA package installation, use the `make package` command as follows: + +```sh +make package ARGS="--packages=" +``` + +The `` must point to a json file located in `CARLA_ROOT/Unreal/CarlaUE4/Content/Carla/Config` named *mapPackage.json* which has the following structure: + +```json +{ + "maps": [ + { + "path": "/Game/Carla/Maps/MyMap", + "name": "MyMap", + "use_carla_materials": true + } + ], + "props": [] +} +``` + +Your map should be saved as `MyMap.umap` file in the `CARLA_ROOT/Unreal/CarlaUE4/Content/Carla/Maps` directory. + +--- + ## Next steps Continue customizing your map using the tools and guides below: From fc8ce5e4b232072edba5f1b55af24f71ac1298d0 Mon Sep 17 00:00:00 2001 From: MattRoweEAIF <125647690+MattRoweEAIF@users.noreply.github.com> Date: Fri, 2 Feb 2024 19:22:25 +0100 Subject: [PATCH 055/105] Added package location (#7115) * added export map package instructiong * added package location --- Docs/tuto_content_authoring_maps.md | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/Docs/tuto_content_authoring_maps.md b/Docs/tuto_content_authoring_maps.md index d297eee9c..8d0456ee0 100644 --- a/Docs/tuto_content_authoring_maps.md +++ b/Docs/tuto_content_authoring_maps.md @@ -23,6 +23,8 @@ In this tutorial we will cover the process of creating a simple map for use with * __[Trees and vegetation](#trees-and-vegetation)__ * [Foliage tool](#foliage-tool) * __[Exporting a map](#exporting-a-map)__ + * [Exporting a map as a separate package](#exporting-a-map-as-a-single-map-package-for-import-into-a-standalone-packaged-carla-installation) + * [Exporting a map as part of a complete CARLA package](#exporting-a-map-as-part-of-a-complete-carla-package) @@ -415,6 +417,8 @@ Drag your desired foliage item into the box labeled `+ Drop Foliage Here`. Set a ## Exporting a map +### Exporting a map as a separate package + To export a map as a map package that can be ingested into a standalone CARLA package installation, use the `make package` command as follows: ```sh @@ -436,6 +440,20 @@ The `` must point to a json file located in `CARLA_ROOT/Unreal/Carla } ``` +Your map should have been saved as `MyMap.umap` file in the `CARLA_ROOT/Unreal/CarlaUE4/Content/Carla/Maps` directory. + +The exported map archive will be saved in the `Dist` folder on Linux and the `/Build/UE4Carla/` folder on Windows. + +### Exporting a map as part of a complete CARLA package + +To export the map as part of a complete CARLA package, such that the map is available on launch of the package, include the following line in the `DefaultGame.ini` file in `CARLA_ROOT/Unreal/CarlaUE4/Config/`: + +``` ++MapsToCook=(FilePath="/Game/Carla/Maps/MyMap") +``` + +This line should be added in the `[/Script/UnrealEd.ProjectPackagingSettings]` section, preferably next to the other `MapsToCook(...)` entries. Then run `make package` command to build a package containing your map. The exported CARLA package with your map will be saved in the `Dist` folder on Linux and the `/Build/UE4Carla/` folder on Windows. + Your map should be saved as `MyMap.umap` file in the `CARLA_ROOT/Unreal/CarlaUE4/Content/Carla/Maps` directory. --- From 1d1f7a4b1cea8b2dfb66c45b18af216595da535b Mon Sep 17 00:00:00 2001 From: MattRoweEAIF <125647690+MattRoweEAIF@users.noreply.github.com> Date: Fri, 2 Feb 2024 19:31:11 +0100 Subject: [PATCH 056/105] fixed hyperlink (#7116) * added export map package instructiong * added package location * fixed hyperlink --- Docs/tuto_content_authoring_maps.md | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/Docs/tuto_content_authoring_maps.md b/Docs/tuto_content_authoring_maps.md index 8d0456ee0..43ba13d97 100644 --- a/Docs/tuto_content_authoring_maps.md +++ b/Docs/tuto_content_authoring_maps.md @@ -23,7 +23,7 @@ In this tutorial we will cover the process of creating a simple map for use with * __[Trees and vegetation](#trees-and-vegetation)__ * [Foliage tool](#foliage-tool) * __[Exporting a map](#exporting-a-map)__ - * [Exporting a map as a separate package](#exporting-a-map-as-a-single-map-package-for-import-into-a-standalone-packaged-carla-installation) + * [Exporting a map as a separate package](#exporting-a-map-as-a-separate-package) * [Exporting a map as part of a complete CARLA package](#exporting-a-map-as-part-of-a-complete-carla-package) @@ -454,8 +454,6 @@ To export the map as part of a complete CARLA package, such that the map is avai This line should be added in the `[/Script/UnrealEd.ProjectPackagingSettings]` section, preferably next to the other `MapsToCook(...)` entries. Then run `make package` command to build a package containing your map. The exported CARLA package with your map will be saved in the `Dist` folder on Linux and the `/Build/UE4Carla/` folder on Windows. -Your map should be saved as `MyMap.umap` file in the `CARLA_ROOT/Unreal/CarlaUE4/Content/Carla/Maps` directory. - --- ## Next steps From c2ace4caaaf2c79a9cbf5b7b76f79d385db5a266 Mon Sep 17 00:00:00 2001 From: MattRoweEAIF <125647690+MattRoweEAIF@users.noreply.github.com> Date: Fri, 2 Feb 2024 21:04:31 +0100 Subject: [PATCH 057/105] Corrected path (#7117) * added export map package instructiong * added package location * fixed hyperlink * corrected path --- Docs/tuto_content_authoring_maps.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Docs/tuto_content_authoring_maps.md b/Docs/tuto_content_authoring_maps.md index 43ba13d97..04c4e541a 100644 --- a/Docs/tuto_content_authoring_maps.md +++ b/Docs/tuto_content_authoring_maps.md @@ -431,7 +431,7 @@ The `` must point to a json file located in `CARLA_ROOT/Unreal/Carla { "maps": [ { - "path": "/Game/Carla/Maps/MyMap", + "path": "/Game/Carla/Maps/", "name": "MyMap", "use_carla_materials": true } From bac863ca92e833ff23688b630d0772bafdf5636e Mon Sep 17 00:00:00 2001 From: Gerhard Dorn <67096719+dorn-gerhard@users.noreply.github.com> Date: Mon, 5 Feb 2024 11:51:52 +0100 Subject: [PATCH 058/105] Update semantic labels in doc (changed from version 0.9.13 -> 0.9.14) (#7122) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Fix a typo in setting the max brake From self._max_steer to self._max_brake * Fix example commands in Multi-GPU docs Only one dash before `-nullrhi` argument * Correct incoherent structuring of tutorial for adding sensor to CARLA. * Add contribution to CHANGELOG.md * Add notes into breakout boxes in sensor create tutorial. * Update build_linux.md Change pseudopath to linux format * Update build_linux.md The same change 1 line above * Fixing Recast pulling by branch instead of hash id * Update semantic labels (changed from version 0.9.13 -> 0.9.14) * Add "Other" Label description in ref_sensors.md * Update semantic labels (changed from version 0.9.13 -> 0.9.14) * Add "Other" Label description in ref_sensors.md * Revert "Add "Other" Label description in ref_sensors.md" This reverts commit 3958e3568225ad019a1850cf31570e34e5409469. * Revert "Update semantic labels (changed from version 0.9.13 -> 0.9.14)" This reverts commit 6ee572e0c4386fcbda83e41656fe2fb4a30a2d00. --------- Co-authored-by: kykim0 Co-authored-by: bernatx Co-authored-by: Paul Erik Frivold Co-authored-by: Balázs Kis Co-authored-by: matejm42 <116560704+matejm42@users.noreply.github.com> Co-authored-by: Blyron <53337103+Blyron@users.noreply.github.com> --- Docs/ref_sensors.md | 53 +++++++++++++++++++++++++-------------------- 1 file changed, 29 insertions(+), 24 deletions(-) diff --git a/Docs/ref_sensors.md b/Docs/ref_sensors.md index 5e28d05c5..477d16c51 100644 --- a/Docs/ref_sensors.md +++ b/Docs/ref_sensors.md @@ -711,34 +711,39 @@ This raw [carla.Image](python_api.md#carla.Image) can be stored and converted it raw_image.save_to_disk("path/to/save/converted/image",carla.ColorConverter.cityScapesPalette) ``` -The following tags are currently available: +The following tags are currently available (Note, tags changed from version 0.9.13 to 0.9.14): | Value | Tag | Converted color | Description | | ----------------------------------- | ----------------------------------- | ----------------------------------- | ----------------------------------- | | `0` | Unlabeled | `(0, 0, 0)` | Elements that have not been categorized are considered `Unlabeled`. This category is meant to be empty or at least contain elements with no collisions. | -| `1` | Building | `(70, 70, 70)` | Buildings like houses, skyscrapers,... and the elements attached to them.
E.g. air conditioners, scaffolding, awning or ladders and much more. | -| `2` | Fence | `(100, 40, 40)` | Barriers, railing, or other upright structures. Basically wood or wire assemblies that enclose an area of ground. | -| `3` | Other | `(55, 90, 80)` | Everything that does not belong to any other category. | -| `4` | Pedestrian | `(220, 20, 60)` | Humans that walk or ride/drive any kind of vehicle or mobility system.
E.g. bicycles or scooters, skateboards, horses, roller-blades, wheel-chairs, etc. | -| `5` | Pole | `(153, 153, 153)` | Small mainly vertically oriented pole. If the pole has a horizontal part (often for traffic light poles) this is also considered pole.
E.g. sign pole, traffic light poles. | -| `6` | RoadLine | `(157, 234, 50)` | The markings on the road. | -| `7` | Road | `(128, 64, 128)` | Part of ground on which cars usually drive.
E.g. lanes in any directions, and streets. | -| `8` | SideWalk | `(244, 35, 232)` | Part of ground designated for pedestrians or cyclists. Delimited from the road by some obstacle (such as curbs or poles), not only by markings. This label includes a possibly delimiting curb, traffic islands (the walkable part), and pedestrian zones. | -| `9` | Vegetation | `(107, 142, 35)` | Trees, hedges, all kinds of vertical vegetation. Ground-level vegetation is considered `Terrain`. | -| `10` | Vehicles | `(0, 0, 142)` | Cars, vans, trucks, motorcycles, bikes, buses, trains. | -| `11` | Wall | `(102, 102, 156)` | Individual standing walls. Not part of a building. | -| `12` | TrafficSign | `(220, 220, 0)` | Signs installed by the state/city authority, usually for traffic regulation. This category does not include the poles where signs are attached to.
E.g. traffic- signs, parking signs, direction signs... | -| `13` | Sky | `(70, 130, 180)` | Open sky. Includes clouds and the sun. | -| `14` | Ground | `(81, 0, 81)` | Any horizontal ground-level structures that does not match any other category. For example areas shared by vehicles and pedestrians, or flat roundabouts delimited from the road by a curb. | -| `15` | Bridge | `(150, 100, 100)` | Only the structure of the bridge. Fences, people, vehicles, an other elements on top of it are labeled separately. | -| `16` | RailTrack | `(230, 150, 140)` | All kind of rail tracks that are non-drivable by cars.
E.g. subway and train rail tracks. | -| `17` | GuardRail | `(180, 165, 180)` | All types of guard rails/crash barriers. | -| `18` | TrafficLight | `(250, 170, 30)` | Traffic light boxes without their poles. | -| `19` | Static | `(110, 190, 160)` | Elements in the scene and props that are immovable.
E.g. fire hydrants, fixed benches, fountains, bus stops, etc. | -| `20` | Dynamic | `(170, 120, 50)` | Elements whose position is susceptible to change over time.
E.g. Movable trash bins, buggies, bags, wheelchairs, animals, etc. | -| `21` | Water | `(45, 60, 150)` | Horizontal water surfaces.
E.g. Lakes, sea, rivers. | -| `22` | Terrain | `(145, 170, 100)` | Grass, ground-level vegetation, soil or sand. These areas are not meant to be driven on. This label includes a possibly delimiting curb. | - +| `1` | Roads | `(128, 64, 128)` | Part of ground on which cars usually drive.
E.g. lanes in any directions, and streets. | +| `2` | SideWalks | `(244, 35, 232)` | Part of ground designated for pedestrians or cyclists. Delimited from the road by some obstacle (such as curbs or poles), not only by markings. This label includes a possibly delimiting curb, traffic islands (the walkable part), and pedestrian zones. | +| `3` | Building | `(70, 70, 70)` | Buildings like houses, skyscrapers,... and the elements attached to them.
E.g. air conditioners, scaffolding, awning or ladders and much more. | +| `4` | Wall | `(102, 102, 156)` | Individual standing walls. Not part of a building. | +| `5` | Fence | `(190, 153, 153)` | Barriers, railing, or other upright structures. Basically wood or wire assemblies that enclose an area of ground. | +| `6` | Pole | `(153, 153, 153)` | Small mainly vertically oriented pole. If the pole has a horizontal part (often for traffic light poles) this is also considered pole.
E.g. sign pole, traffic light poles. | +| `7` | TrafficLight | `(250, 170, 30)` | Traffic light boxes without their poles. | +| `8` | TrafficSign | `(220, 220, 0)` | Signs installed by the state/city authority, usually for traffic regulation. This category does not include the poles where signs are attached to.
E.g. traffic- signs, parking signs, direction signs... | +| `9` | Vegetation | `(107, 142, 35)` | Trees, hedges, all kinds of vertical vegetation. Ground-level vegetation is considered `Terrain`. | +| `10` | Terrain | `(152, 251, 152)` | Grass, ground-level vegetation, soil or sand. These areas are not meant to be driven on. This label includes a possibly delimiting curb. | +| `11` | Sky | `(70, 130, 180)` | Open sky. Includes clouds and the sun. | +| `12` | Pedestrian | `(220, 20, 60)` | Humans that walk | +| `13` | Rider | `(255, 0, 0)` | Humans that ride/drive any kind of vehicle or mobility system
E.g. bicycles or scooters, skateboards, horses, roller-blades, wheel-chairs, etc. . | +| `14` | Car | `(0, 0, 142)` | Cars, vans | +| `15` | Truck | `(0, 0, 70)` | Trucks | +| `16` | Bus | `(0, 60, 100)` | Busses | +| `17` | Train | `(0, 60, 100)` | Trains | +| `18` | Motorcycle | `(0, 0, 230)` | Motorcycle, Motorbike | +| `19` | Bicycle | `(119, 11, 32)` | Bicylces | +| `20` | Static | `(110, 190, 160)` | Elements in the scene and props that are immovable.
E.g. fire hydrants, fixed benches, fountains, bus stops, etc. | +| `21` | Dynamic | `(170, 120, 50)` | Elements whose position is susceptible to change over time.
E.g. Movable trash bins, buggies, bags, wheelchairs, animals, etc. | +| `22` | Other | `(55, 90, 80)` | Everything that does not belong to any other category. | +| `23` | Water | `(45, 60, 150)` | Horizontal water surfaces.
E.g. Lakes, sea, rivers. | +| `24` | RoadLine | `(157, 234, 50)` | The markings on the road. | +| `25` | Ground | `(81, 0, 81)` | Any horizontal ground-level structures that does not match any other category. For example areas shared by vehicles and pedestrians, or flat roundabouts delimited from the road by a curb. | +| `26` | Bridge | `(150, 100, 100)` | Only the structure of the bridge. Fences, people, vehicles, an other elements on top of it are labeled separately. | +| `27` | RailTrack | `(230, 150, 140)` | All kind of rail tracks that are non-drivable by cars.
E.g. subway and train rail tracks. | +| `28` | GuardRail | `(180, 165, 180)` | All types of guard rails/crash barriers. |
!!! Note From 04a46d6158fad3b3bf9a43e4635a35b61e40c58b Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 6 Feb 2024 11:17:40 +0100 Subject: [PATCH 059/105] jenkins pipeline on new CARLA CVC servers --- Jenkinsfile | 134 +++++++++++++++++++++++++++++----------------------- 1 file changed, 74 insertions(+), 60 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index f1a1fad98..2a28df7f0 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -121,6 +121,7 @@ pipeline } } + /* stage('TEST: ubuntu deploy sim') { when { branch "ruben/jenkins_migration"; } @@ -131,6 +132,7 @@ pipeline } } + */ stage('ubuntu deploy dev') { @@ -167,26 +169,38 @@ pipeline when { anyOf { branch "master"; branch "dev"; buildingTag() } } steps { - checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) - unstash name: 'carla_docs' - - withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { - sh ''' - tar -xvzf carla_doc.tar.gz - git add Doxygen - git commit -m "Updated c++ docs" || true - git push - ''' - } - } - post - { - always + dir('doc_repo') { - deleteDir() + checkout scmGit( + branches: [[name: '*/master']], + extensions: [ + checkoutOption(120), + localBranch("**"), + cloneOption(noTags:false, reference:'', shallow: false, timeout:120) + ], + userRemoteConfigs: + [ + [ + credentialsId: 'github_token_as_pwd_2', + url: 'https://github.com/carla-simulator/carla-simulator.github.io.git' + ] + ] + ) + unstash name: 'carla_docs' + withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) + { + sh ''' + tar -xvzf carla_doc.tar.gz + git add Doxygen + git commit -m "Updated c++ docs" || true + git push --set-upstream origin master + ''' + } } + } } + /* stage('TEST: ubuntu Doxygen generation') { when { branch "ruben/jenkins_migration"; } @@ -197,50 +211,50 @@ pipeline stash includes: 'carla_doc.tar.gz', name: 'carla_docs' } } - - stage('TEST: ubuntu Doxygen upload') - { - when { branch "ruben/jenkins_migration"; } - steps - { - dir('doc_repo') - { - checkout scmGit( - branches: [[name: '*/ruben/jenkins_migration']], - extensions: [ - checkoutOption(120), - localBranch("**"), - cloneOption(noTags:false, reference:'', shallow: false, timeout:120) - ], - userRemoteConfigs: [ - [ - credentialsId: 'github_token_as_pwd_2', - url: 'https://github.com/carla-simulator/carla-simulator.github.io.git' - ] - ] - ) - unstash name: 'carla_docs' - withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { - sh ''' - pwd - ls -lh - tar -xvzf carla_doc.tar.gz - git add Doxygen - git commit -m "Updated c++ docs" || true - git push --set-upstream origin ruben/jenkins_migration - ''' - } - } - - } - post - { - always - { - deleteDir() - } - } - } + */ + + // stage('TEST: ubuntu Doxygen upload') + // { + // when { branch "ruben/jenkins_migration"; } + // steps + // { + // dir('doc_repo') + // { + // checkout scmGit( + // branches: [[name: '*/ruben/jenkins_migration']], + // extensions: [ + // checkoutOption(120), + // localBranch("**"), + // cloneOption(noTags:false, reference:'', shallow: false, timeout:120) + // ], + // userRemoteConfigs: [ + // [ + // credentialsId: 'github_token_as_pwd_2', + // url: 'https://github.com/carla-simulator/carla-simulator.github.io.git' + // ] + // ] + // ) + // unstash name: 'carla_docs' + // withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { + // sh ''' + // pwd + // ls -lh + // tar -xvzf carla_doc.tar.gz + // git add Doxygen + // git commit -m "Updated c++ docs" || true + // git push --set-upstream origin ruben/jenkins_migration + // ''' + // } + // } + // } + // post + // { + // always + // { + // deleteDir() + // } + // } + // } } post { From ccf76e0f329af445a26e11cc610c2f6a0d68b336 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 6 Feb 2024 11:32:32 +0100 Subject: [PATCH 060/105] run entire pipeline in gpu machine --- Jenkinsfile | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index f1a1fad98..e12e20345 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -17,7 +17,7 @@ pipeline { stage('ubuntu') { - agent { label "ubuntu" } + agent { label "gpu" } environment { UE4_ROOT = '/home/jenkins/UnrealEngine_4.26' @@ -96,7 +96,6 @@ pipeline } stage('ubuntu smoke tests') { - agent { label "ubuntu && gpu" } steps { unstash name: 'ubuntu_eggs' From 1c8b906b6a9ca7af3c2fb23b85473cdce96911c9 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 6 Feb 2024 12:01:20 +0100 Subject: [PATCH 061/105] incremental repo --- Jenkinsfile | 18 +++--------------- 1 file changed, 3 insertions(+), 15 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index e12e20345..0021960ac 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -202,11 +202,13 @@ pipeline when { branch "ruben/jenkins_migration"; } steps { - dir('doc_repo') + + dir('${env.WORKSPACE}/doc_repo') { checkout scmGit( branches: [[name: '*/ruben/jenkins_migration']], extensions: [ + cleanBeforeCheckout(), checkoutOption(120), localBranch("**"), cloneOption(noTags:false, reference:'', shallow: false, timeout:120) @@ -232,20 +234,6 @@ pipeline } } - post - { - always - { - deleteDir() - } - } - } - } - post - { - always - { - deleteDir() } } } From 61bc48c1e132c47ee372dabd1d96722bfb2a0cb6 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 6 Feb 2024 17:06:12 +0100 Subject: [PATCH 062/105] show clone command to debug --- Util/BuildTools/BuildOSM2ODR.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/Util/BuildTools/BuildOSM2ODR.sh b/Util/BuildTools/BuildOSM2ODR.sh index 61e7d449f..1477292df 100755 --- a/Util/BuildTools/BuildOSM2ODR.sh +++ b/Util/BuildTools/BuildOSM2ODR.sh @@ -79,6 +79,7 @@ if ${BUILD_OSM2ODR} ; then # [ ! -d ${OSM2ODR_BUILD_FOLDER} ] && mkdir ${OSM2ODR_BUILD_FOLDER} if ${GIT_PULL} ; then if [ ! -d ${OSM2ODR_SOURCE_FOLDER} ] ; then + echo "git clone -b ${OSM2ODR_BRANCH} ${OSM2ODR_REPO} ${OSM2ODR_SOURCE_FOLDER}" git clone -b ${OSM2ODR_BRANCH} ${OSM2ODR_REPO} ${OSM2ODR_SOURCE_FOLDER} fi cd ${OSM2ODR_SOURCE_FOLDER} From 5a256cb28bcb0010e2cbba94120508c15956ddac Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 6 Feb 2024 17:52:10 +0100 Subject: [PATCH 063/105] reduce number of stash calls --- Jenkinsfile | 20 -------------------- 1 file changed, 20 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 0021960ac..4e1e0b48b 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -48,8 +48,6 @@ pipeline { archiveArtifacts 'PythonAPI/carla/dist/*.egg' archiveArtifacts 'PythonAPI/carla/dist/*.whl' - stash includes: 'PythonAPI/carla/dist/*.egg', name: 'ubuntu_eggs' - stash includes: 'PythonAPI/carla/dist/*.whl', name: 'ubuntu_wheels' } } } @@ -88,9 +86,6 @@ pipeline always { archiveArtifacts 'Dist/*.tar.gz' - stash includes: 'Dist/CARLA*.tar.gz', name: 'ubuntu_package' - // stash includes: 'Dist/AdditionalMaps*.tar.gz', name: 'ubuntu_package2' - stash includes: 'Examples/', name: 'ubuntu_examples' } } } @@ -98,13 +93,6 @@ pipeline { steps { - unstash name: 'ubuntu_eggs' - unstash name: 'ubuntu_wheels' - unstash name: 'ubuntu_package' - // unstash name: 'ubuntu_package2' - unstash name: 'ubuntu_examples' - sh 'tar -xvzf Dist/CARLA*.tar.gz -C Dist/' - // sh 'tar -xvzf Dist/AdditionalMaps*.tar.gz -C Dist/' sh 'DISPLAY= ./Dist/CarlaUE4.sh -nullrhi -RenderOffScreen --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &' sh 'make smoke_tests ARGS="--xml --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make run-examples ARGS="localhost 3654"' @@ -115,7 +103,6 @@ pipeline { archiveArtifacts 'CarlaUE4.log' junit 'Build/test-results/smoke-tests-*.xml' - deleteDir() } } } @@ -178,13 +165,6 @@ pipeline ''' } } - post - { - always - { - deleteDir() - } - } } stage('TEST: ubuntu Doxygen generation') { From 17aeeff3c13c47df3d9401835cf27fe5f014ca45 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 6 Feb 2024 17:53:13 +0100 Subject: [PATCH 064/105] clean echo --- Util/BuildTools/BuildOSM2ODR.sh | 1 - 1 file changed, 1 deletion(-) diff --git a/Util/BuildTools/BuildOSM2ODR.sh b/Util/BuildTools/BuildOSM2ODR.sh index 1477292df..61e7d449f 100755 --- a/Util/BuildTools/BuildOSM2ODR.sh +++ b/Util/BuildTools/BuildOSM2ODR.sh @@ -79,7 +79,6 @@ if ${BUILD_OSM2ODR} ; then # [ ! -d ${OSM2ODR_BUILD_FOLDER} ] && mkdir ${OSM2ODR_BUILD_FOLDER} if ${GIT_PULL} ; then if [ ! -d ${OSM2ODR_SOURCE_FOLDER} ] ; then - echo "git clone -b ${OSM2ODR_BRANCH} ${OSM2ODR_REPO} ${OSM2ODR_SOURCE_FOLDER}" git clone -b ${OSM2ODR_BRANCH} ${OSM2ODR_REPO} ${OSM2ODR_SOURCE_FOLDER} fi cd ${OSM2ODR_SOURCE_FOLDER} From 1d77cec6ef0e19e2e33f16683d9b33236f7c1296 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 7 Feb 2024 02:42:50 +0100 Subject: [PATCH 065/105] prevent delete dir content --- Jenkinsfile | 8 -------- 1 file changed, 8 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 0021960ac..44f1fa7d4 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -115,7 +115,6 @@ pipeline { archiveArtifacts 'CarlaUE4.log' junit 'Build/test-results/smoke-tests-*.xml' - deleteDir() } } } @@ -178,13 +177,6 @@ pipeline ''' } } - post - { - always - { - deleteDir() - } - } } stage('TEST: ubuntu Doxygen generation') { From 61cc60ffe0856d640f5995b75950ef1e75c1ab23 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 7 Feb 2024 13:29:18 +0100 Subject: [PATCH 066/105] fix workspace --- Jenkinsfile | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 44f1fa7d4..95bcc18f1 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -28,6 +28,7 @@ pipeline { steps { + sh 'echo "Current workspace is ${env.WORKSPACE}"' sh 'git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject' sh 'make setup ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' } @@ -195,7 +196,7 @@ pipeline steps { - dir('${env.WORKSPACE}/doc_repo') + dir("${env.WORKSPACE}/doc_repo") { checkout scmGit( branches: [[name: '*/ruben/jenkins_migration']], From 4fdd8d73f2e7c2792c87d5568b766593d83dbee4 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 7 Feb 2024 13:33:57 +0100 Subject: [PATCH 067/105] minor change --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 95bcc18f1..ce7abbfaf 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -28,7 +28,7 @@ pipeline { steps { - sh 'echo "Current workspace is ${env.WORKSPACE}"' + sh 'echo "Current workspace is ${WORKSPACE}"' sh 'git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject' sh 'make setup ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' } From 0ba17bf334918661ab661f473dbb293f571bda55 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 7 Feb 2024 16:45:11 +0100 Subject: [PATCH 068/105] pipeline in parallel --- Jenkinsfile | 139 +++++++++++++++++++++++++++++++--------------------- 1 file changed, 84 insertions(+), 55 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 4e1e0b48b..ec42a9946 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -24,55 +24,100 @@ pipeline } stages { - stage('ubuntu setup') + parallel { - steps + stage('generate libs') { - sh 'git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject' - sh 'make setup ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' - } - } - stage('ubuntu build') - { - steps - { - sh 'make LibCarla' - sh 'make PythonAPI ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' - sh 'make CarlaUE4Editor ARGS="--chrono"' - sh 'make plugins' - sh 'make examples' - } - post - { - always + stages { - archiveArtifacts 'PythonAPI/carla/dist/*.egg' - archiveArtifacts 'PythonAPI/carla/dist/*.whl' + stage('ubuntu setup') + { + steps + { + sh 'git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject' + sh 'make setup ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' + } + } + stage('ubuntu build') + { + steps + { + sh 'make LibCarla' + sh 'make PythonAPI ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make CarlaUE4Editor ARGS="--chrono"' + sh 'make plugins' + sh 'make examples' + } + post + { + always + { + archiveArtifacts 'PythonAPI/carla/dist/*.egg' + archiveArtifacts 'PythonAPI/carla/dist/*.whl' + } + } + } + stage('ubuntu unit tests') + { + steps + { + sh 'make check ARGS="--all --xml --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' + } + post + { + always + { + junit 'Build/test-results/*.xml' + archiveArtifacts 'profiler.csv' + } + } + } } } - } - stage('ubuntu unit tests') - { - steps + stage('Download additional resources') { - sh 'make check ARGS="--all --xml --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' - } - post - { - always + stages { - junit 'Build/test-results/*.xml' - archiveArtifacts 'profiler.csv' + stage('TEST: Checkout Doxygen repo') + { + when { branch "ruben/jenkins_migration"; } + steps + { + + dir('${env.WORKSPACE}/doc_repo') + { + checkout scmGit( + branches: [[name: '*/ruben/jenkins_migration']], + extensions: [ + cleanBeforeCheckout(), + checkoutOption(120), + localBranch("**"), + cloneOption(noTags:false, reference:'', shallow: false, timeout:120) + ], + userRemoteConfigs: [ + [ + credentialsId: 'github_token_as_pwd_2', + url: 'https://github.com/carla-simulator/carla-simulator.github.io.git' + ] + ] + ) + } + + } + } + + stage('ubuntu retrieve content') + { + steps + { + sh './Update.sh' + } + } } } + } - stage('ubuntu retrieve content') - { - steps - { - sh './Update.sh' - } - } + stage('ubuntu package') { steps @@ -182,24 +227,8 @@ pipeline when { branch "ruben/jenkins_migration"; } steps { - dir('${env.WORKSPACE}/doc_repo') { - checkout scmGit( - branches: [[name: '*/ruben/jenkins_migration']], - extensions: [ - cleanBeforeCheckout(), - checkoutOption(120), - localBranch("**"), - cloneOption(noTags:false, reference:'', shallow: false, timeout:120) - ], - userRemoteConfigs: [ - [ - credentialsId: 'github_token_as_pwd_2', - url: 'https://github.com/carla-simulator/carla-simulator.github.io.git' - ] - ] - ) unstash name: 'carla_docs' withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { sh ''' From 2525e355af7ef1acc466312b5f85cc9208456501 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 7 Feb 2024 17:07:56 +0100 Subject: [PATCH 069/105] parrallel version --- Jenkinsfile | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index df6526c6f..c113e0bb9 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -84,7 +84,7 @@ pipeline steps { - dir('${env.WORKSPACE}/doc_repo') + dir('doc_repo') { checkout scmGit( branches: [[name: '*/ruben/jenkins_migration']], @@ -227,14 +227,11 @@ pipeline when { branch "ruben/jenkins_migration"; } steps { - - dir("${env.WORKSPACE}/doc_repo") + dir('doc_repo') { unstash name: 'carla_docs' withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { sh ''' - pwd - ls -lh tar -xvzf carla_doc.tar.gz git add Doxygen git commit -m "Updated c++ docs" || true From ee647027fe6f5ec0661492c4ade73f0e0d10c360 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 7 Feb 2024 17:16:52 +0100 Subject: [PATCH 070/105] fix jenkinsfile syntax error --- Jenkinsfile | 133 +++++++++++++++++++++++++++------------------------- 1 file changed, 68 insertions(+), 65 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index c113e0bb9..3f4d6dcd5 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -24,98 +24,101 @@ pipeline } stages { - parallel + stage('prepare environment') { - stage('generate libs') + parallel { - stages + stage('generate libs') { - stage('ubuntu setup') + stages { - steps + stage('ubuntu setup') { - sh 'git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject' - sh 'make setup ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' - } - } - stage('ubuntu build') - { - steps - { - sh 'make LibCarla' - sh 'make PythonAPI ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' - sh 'make CarlaUE4Editor ARGS="--chrono"' - sh 'make plugins' - sh 'make examples' - } - post - { - always + steps { - archiveArtifacts 'PythonAPI/carla/dist/*.egg' - archiveArtifacts 'PythonAPI/carla/dist/*.whl' + sh 'git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject' + sh 'make setup ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' } } - } - stage('ubuntu unit tests') - { - steps + stage('ubuntu build') { - sh 'make check ARGS="--all --xml --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' - } - post - { - always + steps { - junit 'Build/test-results/*.xml' - archiveArtifacts 'profiler.csv' + sh 'make LibCarla' + sh 'make PythonAPI ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make CarlaUE4Editor ARGS="--chrono"' + sh 'make plugins' + sh 'make examples' + } + post + { + always + { + archiveArtifacts 'PythonAPI/carla/dist/*.egg' + archiveArtifacts 'PythonAPI/carla/dist/*.whl' + } + } + } + stage('ubuntu unit tests') + { + steps + { + sh 'make check ARGS="--all --xml --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' + } + post + { + always + { + junit 'Build/test-results/*.xml' + archiveArtifacts 'profiler.csv' + } } } } } - } - stage('Download additional resources') - { - stages + stage('Download additional resources') { - stage('TEST: Checkout Doxygen repo') + stages { - when { branch "ruben/jenkins_migration"; } - steps + stage('TEST: Checkout Doxygen repo') { - - dir('doc_repo') + when { branch "ruben/jenkins_migration"; } + steps { - checkout scmGit( - branches: [[name: '*/ruben/jenkins_migration']], - extensions: [ - cleanBeforeCheckout(), - checkoutOption(120), - localBranch("**"), - cloneOption(noTags:false, reference:'', shallow: false, timeout:120) - ], - userRemoteConfigs: [ - [ - credentialsId: 'github_token_as_pwd_2', - url: 'https://github.com/carla-simulator/carla-simulator.github.io.git' + + dir('doc_repo') + { + checkout scmGit( + branches: [[name: '*/ruben/jenkins_migration']], + extensions: [ + cleanBeforeCheckout(), + checkoutOption(120), + localBranch("**"), + cloneOption(noTags:false, reference:'', shallow: false, timeout:120) + ], + userRemoteConfigs: [ + [ + credentialsId: 'github_token_as_pwd_2', + url: 'https://github.com/carla-simulator/carla-simulator.github.io.git' + ] ] - ] - ) + ) + } + } - } - } - stage('ubuntu retrieve content') - { - steps + stage('ubuntu retrieve content') { - sh './Update.sh' + steps + { + sh './Update.sh' + } } } } - } + } } stage('ubuntu package') From 4b0b3be85226627479464d4d142025cedb7845d3 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 7 Feb 2024 17:32:31 +0100 Subject: [PATCH 071/105] test --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 3f4d6dcd5..e18f0e633 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -13,7 +13,7 @@ pipeline { stage('Building CARLA') { - parallel + //parallel { stage('ubuntu') { From 8b588452afd3608c32b62d044d909f5f8b179713 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 7 Feb 2024 17:34:12 +0100 Subject: [PATCH 072/105] syntax error --- Jenkinsfile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index e18f0e633..ef80078e8 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -14,7 +14,7 @@ pipeline stage('Building CARLA') { //parallel - { + //{ stage('ubuntu') { agent { label "gpu" } @@ -354,7 +354,7 @@ pipeline } }*/ - } + //} } } } From a68fee0260e1ea75588e02e492bdba7557db560c Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 7 Feb 2024 17:35:48 +0100 Subject: [PATCH 073/105] syntax error --- Jenkinsfile | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index ef80078e8..d9c1dfdb4 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -11,8 +11,8 @@ pipeline stages { - stage('Building CARLA') - { + //stage('Building CARLA') + //{ //parallel //{ stage('ubuntu') @@ -355,6 +355,6 @@ pipeline }*/ //} - } + //} } } From 5f7330979308176621a0075f6776505e378748bf Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Thu, 8 Feb 2024 00:57:50 +0100 Subject: [PATCH 074/105] paralelize uploads --- Jenkinsfile | 247 +++++++++++++++++++++++++++++++--------------------- 1 file changed, 146 insertions(+), 101 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index d9c1dfdb4..460b3405e 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -56,6 +56,8 @@ pipeline { archiveArtifacts 'PythonAPI/carla/dist/*.egg' archiveArtifacts 'PythonAPI/carla/dist/*.whl' + stash includes: 'PythonAPI/carla/dist/*.egg', name: 'ubuntu_eggs' + stash includes: 'PythonAPI/carla/dist/*.whl', name: 'ubuntu_wheels' } } } @@ -134,115 +136,158 @@ pipeline always { archiveArtifacts 'Dist/*.tar.gz' + stash includes: 'Dist/CARLA*.tar.gz', name: 'ubuntu_package' + stash includes: 'Examples/', name: 'ubuntu_examples' } } } - stage('ubuntu smoke tests') + + stage('Testing and documentation') { - steps + parallel { - sh 'DISPLAY= ./Dist/CarlaUE4.sh -nullrhi -RenderOffScreen --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &' - sh 'make smoke_tests ARGS="--xml --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' - sh 'make run-examples ARGS="localhost 3654"' - } - post - { - always + stage('Testing') { - archiveArtifacts 'CarlaUE4.log' - junit 'Build/test-results/smoke-tests-*.xml' - } - } - } - - stage('TEST: ubuntu deploy sim') - { - when { branch "ruben/jenkins_migration"; } - steps - { - sh 'git checkout .' - sh 'make deploy ARGS="--test"' - } - - } - - stage('ubuntu deploy dev') - { - when { branch "dev"; } - steps - { - sh 'git checkout .' - sh 'make deploy ARGS="--replace-latest"' - } - } - stage('ubuntu deploy master') - { - when { anyOf { branch "master"; buildingTag() } } - steps - { - sh 'git checkout .' - sh 'make deploy ARGS="--replace-latest --docker-push"' - } - } - - stage('ubuntu Doxygen generation') - { - when { anyOf { branch "master"; branch "dev"; buildingTag() } } - steps - { - sh 'make docs' - sh 'tar -czf carla_doc.tar.gz ./Doxygen' - stash includes: 'carla_doc.tar.gz', name: 'carla_docs' - } - } - - stage('ubuntu Doxygen upload') - { - when { anyOf { branch "master"; branch "dev"; buildingTag() } } - steps - { - checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) - unstash name: 'carla_docs' - - withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { - sh ''' - tar -xvzf carla_doc.tar.gz - git add Doxygen - git commit -m "Updated c++ docs" || true - git push - ''' - } - } - } - stage('TEST: ubuntu Doxygen generation') - { - when { branch "ruben/jenkins_migration"; } - steps - { - sh 'make docs' - sh 'tar -czf carla_doc.tar.gz ./Doxygen' - stash includes: 'carla_doc.tar.gz', name: 'carla_docs' - } - } - - stage('TEST: ubuntu Doxygen upload') - { - when { branch "ruben/jenkins_migration"; } - steps - { - dir('doc_repo') - { - unstash name: 'carla_docs' - withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { - sh ''' - tar -xvzf carla_doc.tar.gz - git add Doxygen - git commit -m "Updated c++ docs" || true - git push --set-upstream origin ruben/jenkins_migration - ''' + stages + { + stage('ubuntu smoke tests') + { + steps + { + unstash name: 'ubuntu_eggs' + unstash name: 'ubuntu_wheels' + unstash name: 'ubuntu_package' + unstash name: 'ubuntu_examples' + sh 'tar -xvzf Dist/CARLA*.tar.gz -C Dist/' + sh 'DISPLAY= ./Dist/CarlaUE4.sh -nullrhi -RenderOffScreen --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &' + sh 'make smoke_tests ARGS="--xml --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' + sh 'make run-examples ARGS="localhost 3654"' + } + post + { + always + { + archiveArtifacts 'CarlaUE4.log' + junit 'Build/test-results/smoke-tests-*.xml' + } + } + } + } + } + stage('Generate documentation') + { + stages + { + stage('ubuntu Doxygen generation') + { + when { anyOf { branch "master"; branch "dev"; buildingTag() } } + steps + { + sh 'make docs' + sh 'tar -czf carla_doc.tar.gz ./Doxygen' + stash includes: 'carla_doc.tar.gz', name: 'carla_docs' + } + } + + stage('TEST: ubuntu Doxygen generation') + { + when { branch "ruben/jenkins_migration"; } + steps + { + sh 'make docs' + sh 'tar -czf carla_doc.tar.gz ./Doxygen' + stash includes: 'carla_doc.tar.gz', name: 'carla_docs' + } + } + } + } + } + } + + stage('Deployment and documentation publishing') + { + parallel + { + stage('Release Deployment') + { + stages + { + stage('TEST: ubuntu deploy sim') + { + when { branch "ruben/jenkins_migration"; } + steps + { + sh 'git checkout .' + sh 'make deploy ARGS="--test"' + } + + } + + stage('ubuntu deploy dev') + { + when { branch "dev"; } + steps + { + sh 'git checkout .' + sh 'make deploy ARGS="--replace-latest"' + } + } + stage('ubuntu deploy master') + { + when { anyOf { branch "master"; buildingTag() } } + steps + { + sh 'git checkout .' + sh 'make deploy ARGS="--replace-latest --docker-push"' + } + } + } + } + stage('Publish documentation') + { + stages + { + stage('ubuntu Doxygen upload') + { + when { anyOf { branch "master"; branch "dev"; buildingTag() } } + steps + { + checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) + unstash name: 'carla_docs' + + withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { + sh ''' + tar -xvzf carla_doc.tar.gz + git add Doxygen + git commit -m "Updated c++ docs" || true + git push + ''' + } + } + } + stage('TEST: ubuntu Doxygen upload') + { + when { branch "ruben/jenkins_migration"; } + steps + { + dir('doc_repo') + { + unstash name: 'carla_docs' + withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { + sh ''' + tar -xvzf carla_doc.tar.gz + git add Doxygen + git commit -m "Updated c++ docs" || true + git push --set-upstream origin ruben/jenkins_migration + ''' + } + } + + } + } + } } - } } } From 41a2655c24a85bb1b319ebf4f739c133eeb6ecec Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Thu, 8 Feb 2024 12:29:11 +0100 Subject: [PATCH 075/105] propagate changes to dev and master cases --- Jenkinsfile | 49 +++++++++++++++++++++++++++++++++++++++---------- 1 file changed, 39 insertions(+), 10 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 460b3405e..1ba592edd 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -109,6 +109,33 @@ pipeline } } + stage('Checkout Doxygen repo') + { + when { anyOf { branch "master"; branch "dev"; buildingTag() } } + steps + { + + dir('doc_repo') + { + checkout scmGit( + branches: [[name: '*/master']], + extensions: [ + cleanBeforeCheckout(), + checkoutOption(120), + localBranch("**"), + cloneOption(noTags:false, reference:'', shallow: false, timeout:120) + ], + userRemoteConfigs: [ + [ + credentialsId: 'github_token_as_pwd_2', + url: 'https://github.com/carla-simulator/carla-simulator.github.io.git' + ] + ] + ) + } + + } + } stage('ubuntu retrieve content') { @@ -252,17 +279,19 @@ pipeline when { anyOf { branch "master"; branch "dev"; buildingTag() } } steps { - checkout scmGit(branches: [[name: '*/master']], extensions: [checkoutOption(120), cloneOption(noTags:false, reference:'', shallow: false, timeout:120)], userRemoteConfigs: [[credentialsId: 'github_token_as_pwd_2', url: 'https://github.com/carla-simulator/carla-simulator.github.io.git']]) - unstash name: 'carla_docs' - - withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { - sh ''' - tar -xvzf carla_doc.tar.gz - git add Doxygen - git commit -m "Updated c++ docs" || true - git push - ''' + dir('doc_repo') + { + unstash name: 'carla_docs' + withCredentials([gitUsernamePassword(credentialsId: 'github_token_as_pwd_2', gitToolName: 'git-tool')]) { + sh ''' + tar -xvzf carla_doc.tar.gz + git add Doxygen + git commit -m "Updated c++ docs" || true + git push --set-upstream origin ruben/jenkins_migration + ''' + } } + } } stage('TEST: ubuntu Doxygen upload') From 64b54572375b7b5a527e15e1e7c61bc726422875 Mon Sep 17 00:00:00 2001 From: MattRoweEAIF <125647690+MattRoweEAIF@users.noreply.github.com> Date: Fri, 9 Feb 2024 16:51:47 +0100 Subject: [PATCH 076/105] updated package naming instructions (#7140) --- Docs/tuto_content_authoring_maps.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Docs/tuto_content_authoring_maps.md b/Docs/tuto_content_authoring_maps.md index 04c4e541a..ffdda4f34 100644 --- a/Docs/tuto_content_authoring_maps.md +++ b/Docs/tuto_content_authoring_maps.md @@ -422,10 +422,10 @@ Drag your desired foliage item into the box labeled `+ Drop Foliage Here`. Set a To export a map as a map package that can be ingested into a standalone CARLA package installation, use the `make package` command as follows: ```sh -make package ARGS="--packages=" +make package ARGS="--packages=" ``` -The `` must point to a json file located in `CARLA_ROOT/Unreal/CarlaUE4/Content/Carla/Config` named *mapPackage.json* which has the following structure: +The `` must point to a json file located in `CARLA_ROOT/Unreal/CarlaUE4/Content/Carla/Config` named *mapName.Package.json* which has the following structure: ```json { From 46aa683d2cbb6903c3fd8f3ede1ed3c2c85b0612 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 12 Feb 2024 12:47:58 +0100 Subject: [PATCH 077/105] Archive all Carla server logs --- Jenkinsfile | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Jenkinsfile b/Jenkinsfile index 1ba592edd..eeab4d975 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -189,12 +189,14 @@ pipeline sh 'DISPLAY= ./Dist/CarlaUE4.sh -nullrhi -RenderOffScreen --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &' sh 'make smoke_tests ARGS="--xml --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make run-examples ARGS="localhost 3654"' + sh 'tar -czf CarlaUE_logs.tar.gz Unreal/CarlaUE4/Saved/Logs/' } post { always { archiveArtifacts 'CarlaUE4.log' + archiveArtifacts 'CarlaUE_logs.tar.gz' junit 'Build/test-results/smoke-tests-*.xml' } } From dfe80d11a18d2ea13371619478688ec2223cabe5 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 12 Feb 2024 12:51:56 +0100 Subject: [PATCH 078/105] clean pipeline workspace --- Jenkinsfile | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/Jenkinsfile b/Jenkinsfile index eeab4d975..688e6a8bd 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -323,6 +323,13 @@ pipeline } } } + post + { + always + { + deleteDir() + } + } /* stage('windows') { From 2516d4b9f2d9784c7b41ea0734a7f5e2dd8a03b2 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 12 Feb 2024 12:56:19 +0100 Subject: [PATCH 079/105] fix failure on post --- Jenkinsfile | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 688e6a8bd..5ac125638 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -322,12 +322,12 @@ pipeline } } } - } - post - { - always + post { - deleteDir() + always + { + deleteDir() + } } } /* From 0b13c72d63a7b9754971628cbc57e5136a451ef4 Mon Sep 17 00:00:00 2001 From: Aperiss Date: Fri, 9 Feb 2024 18:53:10 +0100 Subject: [PATCH 080/105] Add actor component getters to the PythonAPI Adds functions: - get_component_world_transform - get_component_relative_transform to the Python API to acces the transform of actor components by name --- LibCarla/source/carla/client/Actor.cpp | 8 ++ LibCarla/source/carla/client/Actor.h | 4 + .../source/carla/client/detail/Client.cpp | 8 ++ LibCarla/source/carla/client/detail/Client.h | 9 ++ .../source/carla/client/detail/Simulator.h | 8 ++ PythonAPI/carla/source/libcarla/Actor.cpp | 2 + .../Carla/Source/Carla/Server/CarlaServer.cpp | 88 +++++++++++++++++++ .../Carla/Server/CarlaServerResponse.cpp | 2 + .../Source/Carla/Server/CarlaServerResponse.h | 1 + 9 files changed, 130 insertions(+) diff --git a/LibCarla/source/carla/client/Actor.cpp b/LibCarla/source/carla/client/Actor.cpp index 36cb0bc41..cfddf041b 100644 --- a/LibCarla/source/carla/client/Actor.cpp +++ b/LibCarla/source/carla/client/Actor.cpp @@ -32,6 +32,14 @@ namespace client { return GetEpisode().Lock()->GetActorAcceleration(*this); } + geom::Transform Actor::GetComponentWorldTransform(const std::string componentName) const { + return GetEpisode().Lock()->GetActorComponentWorldTransform(*this, componentName); + } + + geom::Transform Actor::GetComponentRelativeTransform(const std::string componentName) const { + return GetEpisode().Lock()->GetActorComponentRelativeTransform(*this, componentName); + } + void Actor::SetLocation(const geom::Location &location) { GetEpisode().Lock()->SetActorLocation(*this, location); } diff --git a/LibCarla/source/carla/client/Actor.h b/LibCarla/source/carla/client/Actor.h index 639a7ecb2..79d757468 100644 --- a/LibCarla/source/carla/client/Actor.h +++ b/LibCarla/source/carla/client/Actor.h @@ -60,6 +60,10 @@ namespace client { /// acceleration calculated after the actor's velocity. geom::Vector3D GetAcceleration() const; + geom::Transform GetComponentWorldTransform(const std::string componentName) const; + + geom::Transform GetComponentRelativeTransform(const std::string componentName) const; + /// Teleport the actor to @a location. void SetLocation(const geom::Location &location); diff --git a/LibCarla/source/carla/client/detail/Client.cpp b/LibCarla/source/carla/client/detail/Client.cpp index 16158d538..2cf28c7ef 100644 --- a/LibCarla/source/carla/client/detail/Client.cpp +++ b/LibCarla/source/carla/client/detail/Client.cpp @@ -408,6 +408,14 @@ namespace detail { _pimpl->AsyncCall("add_actor_torque", actor, vector); } + geom::Transform Client::GetActorComponentWorldTransform(rpc::ActorId actor, const std::string componentName) { + return _pimpl->CallAndWait("get_actor_component_world_transform", actor, componentName); + } + + geom::Transform Client::GetActorComponentRelativeTransform(rpc::ActorId actor, const std::string componentName) { + return _pimpl->CallAndWait("get_actor_component_relative_transform", actor, componentName); + } + void Client::SetActorSimulatePhysics(rpc::ActorId actor, const bool enabled) { _pimpl->CallAndWait("set_actor_simulate_physics", actor, enabled); } diff --git a/LibCarla/source/carla/client/detail/Client.h b/LibCarla/source/carla/client/detail/Client.h index e0650ee24..0327adbb6 100644 --- a/LibCarla/source/carla/client/detail/Client.h +++ b/LibCarla/source/carla/client/detail/Client.h @@ -88,6 +88,7 @@ namespace detail { void DestroyTrafficManager(uint16_t port) const; + void SetTimeout(time_duration timeout); time_duration GetTimeout() const; @@ -232,6 +233,14 @@ namespace detail { rpc::ActorId actor, const geom::Vector3D &vector); + geom::Transform GetActorComponentWorldTransform( + rpc::ActorId actor, + const std::string componentName); + + geom::Transform GetActorComponentRelativeTransform( + rpc::ActorId actor, + const std::string componentName); + void SetActorSimulatePhysics( rpc::ActorId actor, bool enabled); diff --git a/LibCarla/source/carla/client/detail/Simulator.h b/LibCarla/source/carla/client/detail/Simulator.h index cf4308f4b..76981d4e3 100644 --- a/LibCarla/source/carla/client/detail/Simulator.h +++ b/LibCarla/source/carla/client/detail/Simulator.h @@ -438,6 +438,14 @@ namespace detail { return GetActorSnapshot(actor).acceleration; } + geom::Transform GetActorComponentWorldTransform(const Actor &actor, const std::string componentName) { + return _client.GetActorComponentWorldTransform(actor.GetId(), componentName); + } + + geom::Transform GetActorComponentRelativeTransform(const Actor &actor, std::string componentName) { + return _client.GetActorComponentRelativeTransform(actor.GetId(), componentName); + } + void SetActorLocation(Actor &actor, const geom::Location &location) { _client.SetActorLocation(actor.GetId(), location); } diff --git a/PythonAPI/carla/source/libcarla/Actor.cpp b/PythonAPI/carla/source/libcarla/Actor.cpp index f0c1b670b..9686bb735 100644 --- a/PythonAPI/carla/source/libcarla/Actor.cpp +++ b/PythonAPI/carla/source/libcarla/Actor.cpp @@ -113,6 +113,8 @@ void export_actor() { .def("get_velocity", &cc::Actor::GetVelocity) .def("get_angular_velocity", &cc::Actor::GetAngularVelocity) .def("get_acceleration", &cc::Actor::GetAcceleration) + .def("get_component_world_transform", &cc::Actor::GetComponentWorldTransform, (arg("component_name"))) + .def("get_component_relative_transform", &cc::Actor::GetComponentRelativeTransform, (arg("component_name"))) .def("set_location", &cc::Actor::SetLocation, (arg("location"))) .def("set_transform", &cc::Actor::SetTransform, (arg("transform"))) .def("set_target_velocity", &cc::Actor::SetTargetVelocity, (arg("velocity"))) diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp index 39e797d50..af6cbc658 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp @@ -1274,6 +1274,94 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_ return R::Success(); }; + BIND_SYNC(get_actor_component_world_transform) << [this]( + cr::ActorId ActorId, + const std::string componentName) -> R + { + REQUIRE_CARLA_EPISODE(); + FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId); + if (!CarlaActor) + { + return RespondError( + "get_actor_component_world_transform", + ECarlaServerResponse::ActorNotFound, + " Actor Id: " + FString::FromInt(ActorId)); + } + else + { + TArray Components; + CarlaActor->GetActor()->GetComponents(Components); + + USceneComponent* Component; + for(auto Cmp : Components) + { + if(USceneComponent* SCMP = Cast(Cmp)) + { + if(SCMP->GetName() == componentName.c_str()) + { + Component = SCMP; + break; + } + } + } + + if(!Component) + { + return RespondError( + "get_actor_component_world_transform", + ECarlaServerResponse::ComponentNotFound, + " Component Name: " + FString(componentName.c_str())); + } + + FTransform ComponentWorldTransform = Component->GetComponentTransform(); + return cr::Transform(ComponentWorldTransform); + } + }; + + BIND_SYNC(get_actor_component_relative_transform) << [this]( + cr::ActorId ActorId, + const std::string componentName) -> R + { + REQUIRE_CARLA_EPISODE(); + FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId); + if (!CarlaActor) + { + return RespondError( + "get_actor_component_relative_transform", + ECarlaServerResponse::ActorNotFound, + " Actor Id: " + FString::FromInt(ActorId)); + } + else + { + TArray Components; + CarlaActor->GetActor()->GetComponents(Components); + + USceneComponent* Component; + for(auto Cmp : Components) + { + if(USceneComponent* SCMP = Cast(Cmp)) + { + if(SCMP->GetName() == componentName.c_str()) + { + Component = SCMP; + break; + } + } + } + + if(!Component) + { + return RespondError( + "get_actor_component_world_transform", + ECarlaServerResponse::ComponentNotFound, + " Component Name: " + FString(componentName.c_str())); + } + + FTransform ComponentRelativeTransform = Component->GetRelativeTransform(); + return cr::Transform(ComponentRelativeTransform); + } + }; + BIND_SYNC(get_physics_control) << [this]( cr::ActorId ActorId) -> R { diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServerResponse.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServerResponse.cpp index 961fcbb85..2e5901119 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServerResponse.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServerResponse.cpp @@ -14,6 +14,8 @@ FString CarlaGetStringError(ECarlaServerResponse Response) return "Sucess"; case ECarlaServerResponse::ActorNotFound: return "Actor could not be found in the registry"; + case ECarlaServerResponse::ComponentNotFound: + return "Component could not be found in this actor"; case ECarlaServerResponse::ActorTypeMismatch: return "Actor does not match the expected type"; case ECarlaServerResponse::MissingActor: diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServerResponse.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServerResponse.h index f5bf72c8b..70125d04f 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServerResponse.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServerResponse.h @@ -10,6 +10,7 @@ enum class ECarlaServerResponse { Success, ActorNotFound, + ComponentNotFound, ActorTypeMismatch, FunctionNotSupported, NullActor, From 193d9cf7cdef4bbcaa88db65cb27d493d9836a76 Mon Sep 17 00:00:00 2001 From: Aperiss Date: Mon, 12 Feb 2024 09:36:55 +0100 Subject: [PATCH 081/105] Update changelog for get-transform-component changes --- CHANGELOG.md | 3 ++- PythonAPI/examples/get_component_test.py | 34 ++++++++++++++++++++++++ 2 files changed, 36 insertions(+), 1 deletion(-) create mode 100644 PythonAPI/examples/get_component_test.py diff --git a/CHANGELOG.md b/CHANGELOG.md index a361dd37a..f4672927e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,6 +1,7 @@ ## Latest Changes * Prevent from segfault on failing SignalReference identification when loading OpenDrive files - * Added vehicle doors to the recorder + * Added vehicle doors to the recorder + * Added functions to get actor' components transform ## CARLA 0.9.15 diff --git a/PythonAPI/examples/get_component_test.py b/PythonAPI/examples/get_component_test.py new file mode 100644 index 000000000..099fc7b10 --- /dev/null +++ b/PythonAPI/examples/get_component_test.py @@ -0,0 +1,34 @@ +import glob +import os +import sys + +try: + sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % ( + sys.version_info.major, + sys.version_info.minor, + 'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0]) +except IndexError: + pass + + +# ============================================================================== +# -- imports ------------------------------------------------------------------- +# ============================================================================== + + +import carla + +client = carla.Client('localhost', 2000) +world = client.get_world() + +location = carla.Location(200.0, 200.0, 200.0) +rotation = carla.Rotation(0.0, 0.0, 0.0) +transform = carla.Transform(location, rotation) + +bp_library = world.get_blueprint_library() +bp_audi = bp_library.find('vehicle.audi.tt') +audi = world.spawn_actor(bp_audi, transform) + +component_transform = audi.get_component_world_transform('front-blinker-r-1') +print(component_transform) + From 02289cbea0e38beae0a93ebe1c1292e814079022 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 13 Feb 2024 14:08:54 +0100 Subject: [PATCH 082/105] fix artifact name --- Jenkinsfile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 5ac125638..640c5f945 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -189,14 +189,14 @@ pipeline sh 'DISPLAY= ./Dist/CarlaUE4.sh -nullrhi -RenderOffScreen --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &' sh 'make smoke_tests ARGS="--xml --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make run-examples ARGS="localhost 3654"' - sh 'tar -czf CarlaUE_logs.tar.gz Unreal/CarlaUE4/Saved/Logs/' + sh 'tar -czf CarlaUE4_logs.tar.gz Unreal/CarlaUE4/Saved/Logs/' } post { always { archiveArtifacts 'CarlaUE4.log' - archiveArtifacts 'CarlaUE_logs.tar.gz' + archiveArtifacts 'CarlaUE4_logs.tar.gz' junit 'Build/test-results/smoke-tests-*.xml' } } From f9003528ce2092d7f87c90bb3dd6e1e27c45a0b7 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 14 Feb 2024 14:53:01 +0100 Subject: [PATCH 083/105] fix: saving all logs when tests fails --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 640c5f945..4d3691f6e 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -189,12 +189,12 @@ pipeline sh 'DISPLAY= ./Dist/CarlaUE4.sh -nullrhi -RenderOffScreen --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &' sh 'make smoke_tests ARGS="--xml --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"' sh 'make run-examples ARGS="localhost 3654"' - sh 'tar -czf CarlaUE4_logs.tar.gz Unreal/CarlaUE4/Saved/Logs/' } post { always { + sh 'tar -czf CarlaUE4_logs.tar.gz Unreal/CarlaUE4/Saved/Logs/' archiveArtifacts 'CarlaUE4.log' archiveArtifacts 'CarlaUE4_logs.tar.gz' junit 'Build/test-results/smoke-tests-*.xml' From 1433186a01963c1e6b66621427d9e8bfbf3c8208 Mon Sep 17 00:00:00 2001 From: Aaron Date: Thu, 15 Feb 2024 09:48:50 +0100 Subject: [PATCH 084/105] Added timers to setup.sh for downloading and unzipping --- Util/BuildTools/Setup.sh | 108 +++++++++++++++++++++++++++++++++++++-- 1 file changed, 103 insertions(+), 5 deletions(-) diff --git a/Util/BuildTools/Setup.sh b/Util/BuildTools/Setup.sh index 0a46ae555..5a96e1ffb 100755 --- a/Util/BuildTools/Setup.sh +++ b/Util/BuildTools/Setup.sh @@ -92,15 +92,30 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do BOOST_PACKAGE_BASENAME=boost_${BOOST_VERSION//./_} log "Retrieving boost." + + start=$(date +%s) wget "https://archives.boost.io/release/${BOOST_VERSION}/source/${BOOST_PACKAGE_BASENAME}.tar.gz" || true + end=$(date +%s) + echo "Elapsed Time downloading from boost webpage: $(($end-$start)) seconds" + # try to use the backup boost we have in Jenkins if [ ! -f "${BOOST_PACKAGE_BASENAME}.tar.gz" ] || [[ $(sha256sum "${BOOST_PACKAGE_BASENAME}.tar.gz") != "${BOOST_SHA256SUM}" ]] ; then log "Using boost backup" + + start=$(date +%s) wget "https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/${BOOST_PACKAGE_BASENAME}.tar.gz" || true + end=$(date +%s) + echo "Elapsed Time downloading from boost carla backup in backblaze: $(($end-$start)) seconds" + fi log "Extracting boost for Python ${PY_VERSION}." + + start=$(date +%s) tar -xzf ${BOOST_PACKAGE_BASENAME}.tar.gz + end=$(date +%s) + echo "Elapsed Time Extracting boost for Python: $(($end-$start)) seconds" + mkdir -p ${BOOST_BASENAME}-install/include mv ${BOOST_PACKAGE_BASENAME} ${BOOST_BASENAME}-source @@ -166,8 +181,12 @@ else log "Retrieving rpclib." + start_download_time=$(date +%s) + git clone -b ${RPCLIB_PATCH} https://github.com/carla-simulator/rpclib.git ${RPCLIB_BASENAME}-source + end_download_time=$(date +%s) + echo "Elapsed Time downloading rpclib: $(($end-$start)) seconds" log "Building rpclib with libc++." # rpclib does not use any cmake 3.9 feature. @@ -234,8 +253,13 @@ else log "Retrieving Google Test." + start_download_time=$(date +%s) + git clone --depth=1 -b release-${GTEST_VERSION} https://github.com/google/googletest.git ${GTEST_BASENAME}-source + end_download_time=$(date +%s) + echo "Elapsed Time downloading rpclib: $(($end-$start)) seconds" + log "Building Google Test with libc++." mkdir -p ${GTEST_BASENAME}-libcxx-build @@ -296,12 +320,15 @@ else log "Retrieving Recast & Detour" - git clone https://github.com/carla-simulator/recastnavigation.git ${RECAST_BASENAME}-source + start=$(date +%s) + + git clone --depth 1 -b carla https://github.com/carla-simulator/recastnavigation.git ${RECAST_BASENAME}-source + + end=$(date +%s) + echo "Elapsed Time downloading: $(($end-$start)) seconds" pushd ${RECAST_BASENAME}-source >/dev/null - git checkout carla - popd >/dev/null log "Building Recast & Detour with libc++." @@ -351,10 +378,18 @@ if [[ -d ${LIBPNG_INSTALL} ]] ; then log "Libpng already installed." else log "Retrieving libpng." - wget ${LIBPNG_REPO} + start=$(date +%s) + wget ${LIBPNG_REPO} + end=$(date +%s) + echo "Elapsed Time downloading libpng: $(($end-$start)) seconds" + + start=$(date +%s) log "Extracting libpng." tar -xf libpng-${LIBPNG_VERSION}.tar.xz + end=$(date +%s) + echo "Elapsed Time Extracting libpng: $(($end-$start)) seconds" + mv ${LIBPNG_BASENAME} ${LIBPNG_BASENAME}-source pushd ${LIBPNG_BASENAME}-source >/dev/null @@ -388,16 +423,26 @@ if [[ -d ${XERCESC_INSTALL_DIR} && -d ${XERCESC_INSTALL_SERVER_DIR} ]] ; then log "Xerces-c already installed." else log "Retrieving xerces-c." + start=$(date +%s) wget ${XERCESC_REPO} - + end=$(date +%s) + echo "Elapsed Time downloading from xerces repo: $(($end-$start)) seconds" # try to use the backup boost we have in Jenkins if [[ ! -f "${XERCESC_BASENAME}.tar.gz" ]] ; then log "Using xerces backup" + start=$(date +%s) wget "https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/${XERCESC_BASENAME}.tar.gz" || true + end=$(date +%s) + echo "Elapsed Time downloading from xerces backup: $(($end-$start)) seconds" fi log "Extracting xerces-c." + + start=$(date +%s) tar -xzf ${XERCESC_BASENAME}.tar.gz + end=$(date +%s) + echo "Elapsed Time Extracting xerces-c: $(($end-$start)) seconds" + mv ${XERCESC_BASENAME} ${XERCESC_SRC_DIR} mkdir -p ${XERCESC_INSTALL_DIR} mkdir -p ${XERCESC_SRC_DIR}/build @@ -461,10 +506,18 @@ if [[ -d ${EIGEN_INSTALL_DIR} ]] ; then log "Eigen already installed." else log "Retrieving Eigen." + + start=$(date +%s) wget ${EIGEN_REPO} + end=$(date +%s) + echo "Elapsed Time downloading from eigen repo: $(($end-$start)) seconds" log "Extracting Eigen." + start=$(date +%s) tar -xzf ${EIGEN_BASENAME}.tar.gz + end=$(date +%s) + echo "Elapsed Time Extracting EIGEN: $(($end-$start)) seconds" + mv ${EIGEN_BASENAME} ${EIGEN_SRC_DIR} mkdir -p ${EIGEN_INCLUDE}/unsupported mv ${EIGEN_SRC_DIR}/Eigen ${EIGEN_INCLUDE} @@ -496,10 +549,19 @@ if ${USE_CHRONO} ; then log "Eigen already installed." else log "Retrieving Eigen." + + start=$(date +%s) wget ${EIGEN_REPO} + end=$(date +%s) + echo "Elapsed Time: $(($end-$start)) seconds" log "Extracting Eigen." + + start=$(date +%s) tar -xzf ${EIGEN_BASENAME}.tar.gz + end=$(date +%s) + echo "Elapsed Time Extracting for Eigen: $(($end-$start)) seconds" + mv ${EIGEN_BASENAME} ${EIGEN_SRC_DIR} mkdir -p ${EIGEN_INCLUDE}/unsupported mv ${EIGEN_SRC_DIR}/Eigen ${EIGEN_INCLUDE} @@ -527,7 +589,10 @@ if ${USE_CHRONO} ; then log "chrono library already installed." else log "Retrieving chrono library." + start=$(date +%s) git clone --depth 1 --branch ${CHRONO_TAG} ${CHRONO_REPO} ${CHRONO_SRC_DIR} + end=$(date +%s) + echo "Elapsed Time dowloading chrono: $(($end-$start)) seconds" mkdir -p ${CHRONO_SRC_DIR}/build @@ -574,10 +639,19 @@ if [[ -d ${SQLITE_INSTALL_DIR} ]] ; then log "Sqlite already installed." else log "Retrieving Sqlite3" + + start=$(date +%s) wget ${SQLITE_REPO} + end=$(date +%s) + echo "Elapsed Time: $(($end-$start)) seconds" log "Extracting Sqlite3" + + start=$(date +%s) tar -xzf ${SQLITE_TAR} + end=$(date +%s) + echo "Elapsed Time Extracting for SQlite: $(($end-$start)) seconds" + mv ${SQLITE_VERSION} ${SQLITE_SOURCE_DIR} mkdir ${SQLITE_INSTALL_DIR} @@ -621,10 +695,18 @@ if [[ -d ${PROJ_INSTALL_DIR} && -d ${PROJ_INSTALL_SERVER_DIR_FULL} ]] ; then log "PROJ already installed." else log "Retrieving PROJ" + + start=$(date +%s) wget ${PROJ_REPO} + end=$(date +%s) + echo "Elapsed Time: $(($end-$start)) seconds" log "Extracting PROJ" + start=$(date +%s) tar -xzf ${PROJ_TAR} + end=$(date +%s) + echo "Elapsed Time Extracting for PROJ: $(($end-$start)) seconds" + mv ${PROJ_VERSION} ${PROJ_SRC_DIR} mkdir -p ${PROJ_SRC_DIR}/build @@ -692,10 +774,18 @@ if [[ -d ${PATCHELF_INSTALL_DIR} ]] ; then log "Patchelf already installed." else log "Retrieving patchelf" + + start=$(date +%s) wget ${PATCHELF_REPO} + end=$(date +%s) + echo "Elapsed Time: $(($end-$start)) seconds" log "Extracting patchelf" + start=$(date +%s) tar -xzf ${PATCHELF_TAR} + end=$(date +%s) + echo "Elapsed Time Extracting patchelf: $(($end-$start)) seconds" + mv patchelf-${PATCHELF_VERSION} ${PATCHELF_SOURCE_DIR} mkdir ${PATCHELF_INSTALL_DIR} @@ -730,7 +820,12 @@ if ${USE_PYTORCH} ; then LIBTORCH_ZIPFILE=libtorch-shared-with-deps-1.11.0+cu113.zip LIBTORCH_REPO=https://download.pytorch.org/libtorch/cu113/libtorch-shared-with-deps-1.11.0%2Bcu113.zip if [[ ! -d ${LIBTORCH_PATH} ]] ; then + + start=$(date +%s) wget ${LIBTORCH_REPO} + end=$(date +%s) + echo "Elapsed Time downloading LIBTORCH_REPO: $(($end-$start)) seconds" + unzip ${LIBTORCH_ZIPFILE} fi @@ -810,7 +905,10 @@ if ${USE_ROS2} ; then if [[ ! -d ${LIB_SOURCE} ]] ; then mkdir -p ${LIB_SOURCE} log "${LIB_REPO}" + start=$(date +%s) git clone --depth 1 --branch ${LIB_BRANCH} ${LIB_REPO} ${LIB_SOURCE} + end=$(date +%s) + echo "Elapsed Time dowloading fastdds extension: $(($end-$start)) seconds" mkdir -p ${LIB_SOURCE}/build fi } From 5d6862c3d7be5a330f07baa2fe24d90172dc6816 Mon Sep 17 00:00:00 2001 From: javiergrCS <139075626+javiergrCS@users.noreply.github.com> Date: Mon, 19 Feb 2024 10:26:34 +0100 Subject: [PATCH 085/105] Javiergr cs/get bones transform (#7153) * Add actor component getters to the PythonAPI Adds functions: - get_component_world_transform - get_component_relative_transform to the Python API to acces the transform of actor components by name * Update changelog for get-transform-component changes * Adding getters for receive bone names and transforms * Corrections * Correcting Python API function definitions to make them able to return lists * Improving the code of get_actor_bone_world_transforms * Adding getters to obtain socket transforms * Updating CHANGELOG.md * Deleting .ignore * Updating Util/BuildTools/Setup.sh * Correcting Setup.sh --------- Co-authored-by: Aperiss Co-authored-by: Blyron <53337103+Blyron@users.noreply.github.com> --- CHANGELOG.md | 3 + LibCarla/source/carla/client/Actor.cpp | 24 ++ LibCarla/source/carla/client/Actor.h | 12 + .../source/carla/client/detail/Client.cpp | 30 +++ LibCarla/source/carla/client/detail/Client.h | 19 +- .../source/carla/client/detail/Simulator.h | 24 ++ PythonAPI/carla/source/libcarla/Actor.cpp | 6 + .../Carla/Source/Carla/Server/CarlaServer.cpp | 216 ++++++++++++++++++ Util/BuildTools/Setup.sh | 3 +- 9 files changed, 335 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index f4672927e..e544aa3c3 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,6 +2,9 @@ * Prevent from segfault on failing SignalReference identification when loading OpenDrive files * Added vehicle doors to the recorder * Added functions to get actor' components transform + * Added functions to get actor' bones transforms + * Added functions to get actor' bones and components names + * Added functions to get actor' sockets transforms ## CARLA 0.9.15 diff --git a/LibCarla/source/carla/client/Actor.cpp b/LibCarla/source/carla/client/Actor.cpp index cfddf041b..0d2b7f962 100644 --- a/LibCarla/source/carla/client/Actor.cpp +++ b/LibCarla/source/carla/client/Actor.cpp @@ -40,6 +40,30 @@ namespace client { return GetEpisode().Lock()->GetActorComponentRelativeTransform(*this, componentName); } + std::vector Actor::GetBoneWorldTransforms() const { + return GetEpisode().Lock()->GetActorBoneWorldTransforms(*this); + } + + std::vector Actor::GetBoneRelativeTransforms() const { + return GetEpisode().Lock()->GetActorBoneRelativeTransforms(*this); + } + + std::vector Actor::GetComponentNames() const { + return GetEpisode().Lock()->GetActorComponentNames(*this); + } + + std::vector Actor::GetBoneNames() const { + return GetEpisode().Lock()->GetActorBoneNames(*this); + } + + std::vector Actor::GetSocketWorldTransforms() const { + return GetEpisode().Lock()->GetActorSocketWorldTransforms(*this); + } + + std::vector Actor::GetSocketRelativeTransforms() const { + return GetEpisode().Lock()->GetActorSocketRelativeTransforms(*this); + } + void Actor::SetLocation(const geom::Location &location) { GetEpisode().Lock()->SetActorLocation(*this, location); } diff --git a/LibCarla/source/carla/client/Actor.h b/LibCarla/source/carla/client/Actor.h index 79d757468..4afd48d4a 100644 --- a/LibCarla/source/carla/client/Actor.h +++ b/LibCarla/source/carla/client/Actor.h @@ -64,6 +64,18 @@ namespace client { geom::Transform GetComponentRelativeTransform(const std::string componentName) const; + std::vector GetBoneWorldTransforms() const; + + std::vector GetBoneRelativeTransforms() const; + + std::vector GetComponentNames() const; + + std::vector GetBoneNames() const; + + std::vector GetSocketWorldTransforms() const; + + std::vector GetSocketRelativeTransforms() const; + /// Teleport the actor to @a location. void SetLocation(const geom::Location &location); diff --git a/LibCarla/source/carla/client/detail/Client.cpp b/LibCarla/source/carla/client/detail/Client.cpp index 2cf28c7ef..a1587c8c1 100644 --- a/LibCarla/source/carla/client/detail/Client.cpp +++ b/LibCarla/source/carla/client/detail/Client.cpp @@ -416,6 +416,36 @@ namespace detail { return _pimpl->CallAndWait("get_actor_component_relative_transform", actor, componentName); } + std::vector Client::GetActorBoneWorldTransforms(rpc::ActorId actor) { + using return_t = std::vector; + return _pimpl->CallAndWait("get_actor_bone_world_transforms", actor); + } + + std::vector Client::GetActorBoneRelativeTransforms(rpc::ActorId actor) { + using return_t = std::vector; + return _pimpl->CallAndWait("get_actor_bone_relative_transforms", actor); + } + + std::vector Client::GetActorComponentNames(rpc::ActorId actor) { + using return_t = std::vector; + return _pimpl->CallAndWait("get_actor_component_names", actor); + } + + std::vector Client::GetActorBoneNames(rpc::ActorId actor) { + using return_t = std::vector; + return _pimpl->CallAndWait("get_actor_bone_names", actor); + } + + std::vector Client::GetActorSocketWorldTransforms(rpc::ActorId actor) { + using return_t = std::vector; + return _pimpl->CallAndWait("get_actor_socket_world_transforms", actor); + } + + std::vector Client::GetActorSocketRelativeTransforms(rpc::ActorId actor) { + using return_t = std::vector; + return _pimpl->CallAndWait("get_actor_socket_relative_transforms", actor); + } + void Client::SetActorSimulatePhysics(rpc::ActorId actor, const bool enabled) { _pimpl->CallAndWait("set_actor_simulate_physics", actor, enabled); } diff --git a/LibCarla/source/carla/client/detail/Client.h b/LibCarla/source/carla/client/detail/Client.h index 0327adbb6..9f7701420 100644 --- a/LibCarla/source/carla/client/detail/Client.h +++ b/LibCarla/source/carla/client/detail/Client.h @@ -88,7 +88,6 @@ namespace detail { void DestroyTrafficManager(uint16_t port) const; - void SetTimeout(time_duration timeout); time_duration GetTimeout() const; @@ -241,6 +240,24 @@ namespace detail { rpc::ActorId actor, const std::string componentName); + std::vector GetActorBoneWorldTransforms( + rpc::ActorId actor); + + std::vector GetActorBoneRelativeTransforms( + rpc::ActorId actor); + + std::vector GetActorComponentNames( + rpc::ActorId actor); + + std::vector GetActorBoneNames( + rpc::ActorId actor); + + std::vector GetActorSocketWorldTransforms( + rpc::ActorId actor); + + std::vector GetActorSocketRelativeTransforms( + rpc::ActorId actor); + void SetActorSimulatePhysics( rpc::ActorId actor, bool enabled); diff --git a/LibCarla/source/carla/client/detail/Simulator.h b/LibCarla/source/carla/client/detail/Simulator.h index 76981d4e3..8eb2d09e9 100644 --- a/LibCarla/source/carla/client/detail/Simulator.h +++ b/LibCarla/source/carla/client/detail/Simulator.h @@ -446,6 +446,30 @@ namespace detail { return _client.GetActorComponentRelativeTransform(actor.GetId(), componentName); } + std::vector GetActorBoneWorldTransforms(const Actor &actor) { + return _client.GetActorBoneWorldTransforms(actor.GetId()); + } + + std::vector GetActorBoneRelativeTransforms(const Actor &actor) { + return _client.GetActorBoneRelativeTransforms(actor.GetId()); + } + + std::vector GetActorComponentNames(const Actor &actor) { + return _client.GetActorComponentNames(actor.GetId()); + } + + std::vector GetActorBoneNames(const Actor &actor) { + return _client.GetActorBoneNames(actor.GetId()); + } + + std::vector GetActorSocketWorldTransforms(const Actor &actor) { + return _client.GetActorSocketWorldTransforms(actor.GetId()); + } + + std::vector GetActorSocketRelativeTransforms(const Actor &actor) { + return _client.GetActorSocketRelativeTransforms(actor.GetId()); + } + void SetActorLocation(Actor &actor, const geom::Location &location) { _client.SetActorLocation(actor.GetId(), location); } diff --git a/PythonAPI/carla/source/libcarla/Actor.cpp b/PythonAPI/carla/source/libcarla/Actor.cpp index 9686bb735..dda9d58a4 100644 --- a/PythonAPI/carla/source/libcarla/Actor.cpp +++ b/PythonAPI/carla/source/libcarla/Actor.cpp @@ -115,6 +115,12 @@ void export_actor() { .def("get_acceleration", &cc::Actor::GetAcceleration) .def("get_component_world_transform", &cc::Actor::GetComponentWorldTransform, (arg("component_name"))) .def("get_component_relative_transform", &cc::Actor::GetComponentRelativeTransform, (arg("component_name"))) + .def("get_bone_world_transforms", CALL_RETURNING_LIST(cc::Actor,GetBoneWorldTransforms)) + .def("get_bone_relative_transforms", CALL_RETURNING_LIST(cc::Actor,GetBoneRelativeTransforms)) + .def("get_component_names", CALL_RETURNING_LIST(cc::Actor,GetComponentNames)) + .def("get_bone_names", CALL_RETURNING_LIST(cc::Actor,GetBoneNames)) + .def("get_socket_world_transforms", CALL_RETURNING_LIST(cc::Actor,GetSocketWorldTransforms)) + .def("get_socket_relative_transforms", CALL_RETURNING_LIST(cc::Actor,GetSocketRelativeTransforms)) .def("set_location", &cc::Actor::SetLocation, (arg("location"))) .def("set_transform", &cc::Actor::SetTransform, (arg("transform"))) .def("set_target_velocity", &cc::Actor::SetTargetVelocity, (arg("velocity"))) diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp index af6cbc658..16a9bb939 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp @@ -9,6 +9,11 @@ #include "Carla/Server/CarlaServerResponse.h" #include "Carla/Traffic/TrafficLightGroup.h" #include "EngineUtils.h" +#include "Components/SkeletalMeshComponent.h" +#include "Components/SkinnedMeshComponent.h" +#include "Components/SceneComponent.h" +#include "Engine/SkeletalMesh.h" +#include "Engine/SkeletalMeshSocket.h" #include "Carla/OpenDrive/OpenDrive.h" #include "Carla/Util/DebugShapeDrawer.h" @@ -1362,6 +1367,217 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_ } }; + BIND_SYNC(get_actor_bone_world_transforms) << [this]( + cr::ActorId ActorId) -> R> + { + REQUIRE_CARLA_EPISODE(); + FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId); + if (!CarlaActor) + { + return RespondError( + "get_actor_bone_world_transform", + ECarlaServerResponse::ActorNotFound, + " Actor Id: " + FString::FromInt(ActorId)); + } + else + { + TArray BoneWorldTransforms; + TArray SkinnedMeshComponents; + CarlaActor->GetActor()->GetComponents(SkinnedMeshComponents); + if(!SkinnedMeshComponents[0]) + { + return RespondError( + "get_actor_bone_relative_transforms", + ECarlaServerResponse::ComponentNotFound, + " Component Name: SkinnedMeshComponent "); + } + else + { + for(USkinnedMeshComponent* SkinnedMeshComponent : SkinnedMeshComponents) + { + const int32 NumBones = SkinnedMeshComponent->GetNumBones(); + for (int32 BoneIndex = 0; BoneIndex < NumBones; ++BoneIndex) + { + FTransform WorldTransform = SkinnedMeshComponent->GetComponentTransform(); + FTransform BoneTransform = SkinnedMeshComponent->GetBoneTransform(BoneIndex, WorldTransform); + BoneWorldTransforms.Add(BoneTransform); + } + } + return MakeVectorFromTArray(BoneWorldTransforms); + } + } + }; + + BIND_SYNC(get_actor_bone_relative_transforms) << [this]( + cr::ActorId ActorId) -> R> + { + REQUIRE_CARLA_EPISODE(); + FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId); + if (!CarlaActor) + { + return RespondError( + "get_actor_bone_relative_transform", + ECarlaServerResponse::ActorNotFound, + " Actor Id: " + FString::FromInt(ActorId)); + } + else + { + TArray BoneRelativeTransforms; + TArray SkinnedMeshComponents; + CarlaActor->GetActor()->GetComponents(SkinnedMeshComponents); + if(!SkinnedMeshComponents[0]) + { + return RespondError( + "get_actor_bone_relative_transforms", + ECarlaServerResponse::ComponentNotFound, + " Component Name: SkinnedMeshComponent "); + } + else + { + for(USkinnedMeshComponent* SkinnedMeshComponent : SkinnedMeshComponents) + { + const int32 NumBones = SkinnedMeshComponent->GetNumBones(); + for (int32 BoneIndex = 0; BoneIndex < NumBones; ++BoneIndex) + { + FTransform BoneTransform = SkinnedMeshComponent->GetBoneTransform(BoneIndex, FTransform::Identity); + BoneRelativeTransforms.Add(BoneTransform); + } + } + return MakeVectorFromTArray(BoneRelativeTransforms); + } + } + }; + + BIND_SYNC(get_actor_component_names) << [this]( + cr::ActorId ActorId) -> R> + { + REQUIRE_CARLA_EPISODE(); + FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId); + if (!CarlaActor) + { + return RespondError( + "get_actor_component_names", + ECarlaServerResponse::ActorNotFound, + " Actor Id: " + FString::FromInt(ActorId)); + } + else + { + TArray Components; + CarlaActor->GetActor()->GetComponents(Components); + std::vector ComponentNames; + for(auto Cmp : Components) + { + FString ComponentName = Cmp->GetName(); + ComponentNames.push_back(TCHAR_TO_UTF8(*ComponentName)); + } + return ComponentNames; + } + }; + + BIND_SYNC(get_actor_bone_names) << [this]( + cr::ActorId ActorId) -> R> + { + REQUIRE_CARLA_EPISODE(); + FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId); + if (!CarlaActor) + { + return RespondError( + "get_actor_component_relative_transform", + ECarlaServerResponse::ActorNotFound, + " Actor Id: " + FString::FromInt(ActorId)); + } + else + { + USkinnedMeshComponent* SkinnedMeshComponent = CarlaActor->GetActor()->FindComponentByClass(); + if(!SkinnedMeshComponent) + { + return RespondError( + "get_actor_bone_relative_transforms", + ECarlaServerResponse::ComponentNotFound, + " Component Name: SkinnedMeshComponent "); + } + else + { + TArray BoneNames; + SkinnedMeshComponent->GetBoneNames(BoneNames); + TArray StringBoneNames; + for (const FName& Name : BoneNames) + { + FString FBoneName = Name.ToString(); + std::string StringBoneName = TCHAR_TO_UTF8(*FBoneName); + StringBoneNames.Add(StringBoneName); + } + return MakeVectorFromTArray(StringBoneNames); + } + } + }; + + BIND_SYNC(get_actor_socket_world_transforms) << [this]( + cr::ActorId ActorId) -> R> + { + REQUIRE_CARLA_EPISODE(); + FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId); + if (!CarlaActor) + { + return RespondError( + "get_actor_component_relative_transform", + ECarlaServerResponse::ActorNotFound, + " Actor Id: " + FString::FromInt(ActorId)); + } + else + { + TArray SocketWorldTransforms; + TArray Components; + CarlaActor->GetActor()->GetComponents(Components); + for(UActorComponent* ActorComponent : Components) + { + if(USceneComponent* SceneComponent = Cast(ActorComponent)) + { + const TArray& SocketNames = SceneComponent->GetAllSocketNames(); + for (const FName& SocketName : SocketNames) + { + FTransform SocketTransform = SceneComponent->GetSocketTransform(SocketName); + SocketWorldTransforms.Add(SocketTransform); + } + } + } + return MakeVectorFromTArray(SocketWorldTransforms); + } + }; + + BIND_SYNC(get_actor_socket_relative_transforms) << [this]( + cr::ActorId ActorId) -> R> + { + REQUIRE_CARLA_EPISODE(); + FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId); + if (!CarlaActor) + { + return RespondError( + "get_actor_component_relative_transform", + ECarlaServerResponse::ActorNotFound, + " Actor Id: " + FString::FromInt(ActorId)); + } + else + { + TArray SocketRelativeTransforms; + TArray Components; + CarlaActor->GetActor()->GetComponents(Components); + for(UActorComponent* ActorComponent : Components) + { + if(USceneComponent* SceneComponent = Cast(ActorComponent)) + { + const TArray& SocketNames = SceneComponent->GetAllSocketNames(); + for (const FName& SocketName : SocketNames) + { + FTransform SocketTransform = SceneComponent->GetSocketTransform(SocketName, ERelativeTransformSpace::RTS_Actor); + SocketRelativeTransforms.Add(SocketTransform); + } + } + } + return MakeVectorFromTArray(SocketRelativeTransforms); + } + }; + BIND_SYNC(get_physics_control) << [this]( cr::ActorId ActorId) -> R { diff --git a/Util/BuildTools/Setup.sh b/Util/BuildTools/Setup.sh index 5a96e1ffb..81a416d07 100755 --- a/Util/BuildTools/Setup.sh +++ b/Util/BuildTools/Setup.sh @@ -186,7 +186,8 @@ else git clone -b ${RPCLIB_PATCH} https://github.com/carla-simulator/rpclib.git ${RPCLIB_BASENAME}-source end_download_time=$(date +%s) - echo "Elapsed Time downloading rpclib: $(($end-$start)) seconds" + + echo "Elapsed Time downloading rpclib: $(($end_download_time-$start_download_time)) seconds" log "Building rpclib with libc++." # rpclib does not use any cmake 3.9 feature. From cb9a9d77ab097f31a6f1c809a554f9820b449020 Mon Sep 17 00:00:00 2001 From: LuisPoveda <101111439+LuisPoveda@users.noreply.github.com> Date: Mon, 19 Feb 2024 11:21:36 +0100 Subject: [PATCH 086/105] Luis/extend spawn actor (#7154) * Extended spawn_actor to accept a socket name and spawn the actor in the parents socket * fix pr review --- LibCarla/source/carla/client/World.cpp | 10 ++++++---- LibCarla/source/carla/client/World.h | 7 +++++-- LibCarla/source/carla/client/detail/Client.cpp | 8 +++++--- LibCarla/source/carla/client/detail/Client.h | 3 ++- LibCarla/source/carla/client/detail/Simulator.cpp | 8 +++++--- LibCarla/source/carla/client/detail/Simulator.h | 3 ++- LibCarla/source/carla/rpc/Command.h | 13 ++++++++++++- PythonAPI/carla/source/libcarla/Commands.cpp | 6 ++++++ PythonAPI/carla/source/libcarla/World.cpp | 10 +++++++--- .../Carla/Source/Carla/Game/CarlaEpisode.cpp | 9 +++++---- .../Plugins/Carla/Source/Carla/Game/CarlaEpisode.h | 3 ++- .../Carla/Source/Carla/Server/CarlaServer.cpp | 9 ++++++--- .../Carla/Source/Carla/Util/ActorAttacher.cpp | 5 +++-- .../Plugins/Carla/Source/Carla/Util/ActorAttacher.h | 2 +- 14 files changed, 67 insertions(+), 29 deletions(-) diff --git a/LibCarla/source/carla/client/World.cpp b/LibCarla/source/carla/client/World.cpp index 2855f7f1d..cdda8a513 100644 --- a/LibCarla/source/carla/client/World.cpp +++ b/LibCarla/source/carla/client/World.cpp @@ -119,17 +119,19 @@ namespace client { const ActorBlueprint &blueprint, const geom::Transform &transform, Actor *parent_actor, - rpc::AttachmentType attachment_type) { - return _episode.Lock()->SpawnActor(blueprint, transform, parent_actor, attachment_type); + rpc::AttachmentType attachment_type, + const std::string& socket_name) { + return _episode.Lock()->SpawnActor(blueprint, transform, parent_actor, attachment_type, GarbageCollectionPolicy::Inherit, socket_name); } SharedPtr World::TrySpawnActor( const ActorBlueprint &blueprint, const geom::Transform &transform, Actor *parent_actor, - rpc::AttachmentType attachment_type) noexcept { + rpc::AttachmentType attachment_type, + const std::string& socket_name) noexcept { try { - return SpawnActor(blueprint, transform, parent_actor, attachment_type); + return SpawnActor(blueprint, transform, parent_actor, attachment_type, socket_name); } catch (const std::exception &) { return nullptr; } diff --git a/LibCarla/source/carla/client/World.h b/LibCarla/source/carla/client/World.h index 003fadb26..d8ba32e3e 100644 --- a/LibCarla/source/carla/client/World.h +++ b/LibCarla/source/carla/client/World.h @@ -29,6 +29,7 @@ #include "carla/rpc/Texture.h" #include "carla/rpc/MaterialParameter.h" +#include #include namespace carla { @@ -112,7 +113,8 @@ namespace client { const ActorBlueprint &blueprint, const geom::Transform &transform, Actor *parent = nullptr, - rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid); + rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid, + const std::string& socket_name = ""); /// Same as SpawnActor but return nullptr on failure instead of throwing an /// exception. @@ -120,7 +122,8 @@ namespace client { const ActorBlueprint &blueprint, const geom::Transform &transform, Actor *parent = nullptr, - rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid) noexcept; + rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid, + const std::string& socket_name = "") noexcept; /// Block calling thread until a world tick is received. WorldSnapshot WaitForTick(time_duration timeout) const; diff --git a/LibCarla/source/carla/client/detail/Client.cpp b/LibCarla/source/carla/client/detail/Client.cpp index a1587c8c1..edb148517 100644 --- a/LibCarla/source/carla/client/detail/Client.cpp +++ b/LibCarla/source/carla/client/detail/Client.cpp @@ -326,11 +326,12 @@ namespace detail { return _pimpl->CallAndWait("spawn_actor", description, transform); } - rpc::Actor Client::SpawnActorWithParent( + rpc::Actor Client::SpawnActorWithParent( const rpc::ActorDescription &description, const geom::Transform &transform, rpc::ActorId parent, - rpc::AttachmentType attachment_type) { + rpc::AttachmentType attachment_type, + const std::string& socket_name) { if (attachment_type == rpc::AttachmentType::SpringArm || attachment_type == rpc::AttachmentType::SpringArmGhost) @@ -348,7 +349,8 @@ namespace detail { description, transform, parent, - attachment_type); + attachment_type, + socket_name); } bool Client::DestroyActor(rpc::ActorId actor) { diff --git a/LibCarla/source/carla/client/detail/Client.h b/LibCarla/source/carla/client/detail/Client.h index 9f7701420..0eff68b6e 100644 --- a/LibCarla/source/carla/client/detail/Client.h +++ b/LibCarla/source/carla/client/detail/Client.h @@ -179,7 +179,8 @@ namespace detail { const rpc::ActorDescription &description, const geom::Transform &transform, rpc::ActorId parent, - rpc::AttachmentType attachment_type); + rpc::AttachmentType attachment_type, + const std::string& socket_name = ""); bool DestroyActor(rpc::ActorId actor); diff --git a/LibCarla/source/carla/client/detail/Simulator.cpp b/LibCarla/source/carla/client/detail/Simulator.cpp index ec2fbfae3..28eb8be68 100644 --- a/LibCarla/source/carla/client/detail/Simulator.cpp +++ b/LibCarla/source/carla/client/detail/Simulator.cpp @@ -342,19 +342,21 @@ EpisodeProxy Simulator::GetCurrentEpisode() { // -- General operations with actors ----------------------------------------- // =========================================================================== - SharedPtr Simulator::SpawnActor( + SharedPtr Simulator::SpawnActor( const ActorBlueprint &blueprint, const geom::Transform &transform, Actor *parent, rpc::AttachmentType attachment_type, - GarbageCollectionPolicy gc) { + GarbageCollectionPolicy gc, + const std::string& socket_name) { rpc::Actor actor; if (parent != nullptr) { actor = _client.SpawnActorWithParent( blueprint.MakeActorDescription(), transform, parent->GetId(), - attachment_type); + attachment_type, + socket_name); } else { actor = _client.SpawnActor( blueprint.MakeActorDescription(), diff --git a/LibCarla/source/carla/client/detail/Simulator.h b/LibCarla/source/carla/client/detail/Simulator.h index 8eb2d09e9..5f8a2ec06 100644 --- a/LibCarla/source/carla/client/detail/Simulator.h +++ b/LibCarla/source/carla/client/detail/Simulator.h @@ -357,7 +357,8 @@ namespace detail { const geom::Transform &transform, Actor *parent = nullptr, rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid, - GarbageCollectionPolicy gc = GarbageCollectionPolicy::Inherit); + GarbageCollectionPolicy gc = GarbageCollectionPolicy::Inherit, + const std::string& socket_name = ""); bool DestroyActor(Actor &actor); diff --git a/LibCarla/source/carla/rpc/Command.h b/LibCarla/source/carla/rpc/Command.h index 299c8ad0b..663654e88 100644 --- a/LibCarla/source/carla/rpc/Command.h +++ b/LibCarla/source/carla/rpc/Command.h @@ -10,6 +10,7 @@ #include "carla/MsgPackAdaptors.h" #include "carla/geom/Transform.h" #include "carla/rpc/ActorDescription.h" +#include "carla/rpc/AttachmentType.h" #include "carla/rpc/ActorId.h" #include "carla/rpc/TrafficLightState.h" #include "carla/rpc/VehicleAckermannControl.h" @@ -18,6 +19,8 @@ #include "carla/rpc/VehicleLightState.h" #include "carla/rpc/WalkerControl.h" +#include + #ifdef _MSC_VER #pragma warning(push) #pragma warning(disable:4583) @@ -59,11 +62,19 @@ namespace rpc { : description(std::move(description)), transform(transform), parent(parent) {} + SpawnActor(ActorDescription description, const geom::Transform &transform, ActorId parent, AttachmentType attachment_type, const std::string& bone) + : description(std::move(description)), + transform(transform), + parent(parent), + attachment_type(attachment_type), + socket_name(bone) {} ActorDescription description; geom::Transform transform; boost::optional parent; + AttachmentType attachment_type; + std::string socket_name; std::vector do_after; - MSGPACK_DEFINE_ARRAY(description, transform, parent, do_after); + MSGPACK_DEFINE_ARRAY(description, transform, parent, attachment_type, socket_name, do_after); }; struct DestroyActor : CommandBase { diff --git a/PythonAPI/carla/source/libcarla/Commands.cpp b/PythonAPI/carla/source/libcarla/Commands.cpp index 7fd5166da..2e33c628c 100644 --- a/PythonAPI/carla/source/libcarla/Commands.cpp +++ b/PythonAPI/carla/source/libcarla/Commands.cpp @@ -82,9 +82,15 @@ void export_commands() { "__init__", &command_impl::CustomSpawnActorInit, (arg("blueprint"), arg("transform"), arg("parent"))) + .def( + "__init__", + &command_impl::CustomSpawnActorInit, + (arg("blueprint"), arg("transform"), arg("parent"), arg("attachment_type"), arg("socket_name"))) .def(init()) .def_readwrite("transform", &cr::Command::SpawnActor::transform) .def_readwrite("parent_id", &cr::Command::SpawnActor::parent) + .def_readwrite("attachment_type", &cr::Command::SpawnActor::attachment_type) + .def_readwrite("socket_name", &cr::Command::SpawnActor::socket_name) .def("then", &command_impl::Then, (arg("command"))) ; diff --git a/PythonAPI/carla/source/libcarla/World.cpp b/PythonAPI/carla/source/libcarla/World.cpp index 6f07518ba..0c59ebf32 100644 --- a/PythonAPI/carla/source/libcarla/World.cpp +++ b/PythonAPI/carla/source/libcarla/World.cpp @@ -11,6 +11,8 @@ #include #include +#include + #include namespace carla { @@ -293,15 +295,17 @@ void export_world() { const cc::ActorBlueprint &blueprint, \ const cg::Transform &transform, \ cc::Actor *parent, \ - cr::AttachmentType attachment_type) { \ + cr::AttachmentType attachment_type, \ + const std::string& bone) { \ carla::PythonUtil::ReleaseGIL unlock; \ - return self.fn(blueprint, transform, parent, attachment_type); \ + return self.fn(blueprint, transform, parent, attachment_type, bone); \ }, \ ( \ arg("blueprint"), \ arg("transform"), \ arg("attach_to")=carla::SharedPtr(), \ - arg("attachment_type")=cr::AttachmentType::Rigid) + arg("attachment_type")=cr::AttachmentType::Rigid, \ + arg("bone")=std::string()) class_("World", no_init) .add_property("id", &cc::World::GetId) diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp index 5d2417ab1..2e4951021 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp @@ -105,7 +105,7 @@ bool UCarlaEpisode::LoadNewEpisode(const FString &MapString, bool ResetSettings) UGameplayStatics::OpenLevel(GetWorld(), *FinalPath, true); if (ResetSettings) ApplySettings(FEpisodeSettings{}); - + // send 'LOAD_MAP' command to all secondary servers (if any) if (bIsPrimaryServer) { @@ -114,7 +114,7 @@ bool UCarlaEpisode::LoadNewEpisode(const FString &MapString, bool ResetSettings) { FCarlaEngine *CarlaEngine = GameInstance->GetCarlaEngine(); auto SecondaryServer = CarlaEngine->GetSecondaryServer(); - if (SecondaryServer->HasClientsConnected()) + if (SecondaryServer->HasClientsConnected()) { SecondaryServer->GetCommander().SendLoadMap(std::string(TCHAR_TO_UTF8(*FinalPath))); } @@ -294,11 +294,12 @@ carla::rpc::Actor UCarlaEpisode::SerializeActor(AActor* Actor) const void UCarlaEpisode::AttachActors( AActor *Child, AActor *Parent, - EAttachmentType InAttachmentType) + EAttachmentType InAttachmentType, + const FString& SocketName) { Child->AddActorWorldOffset(FVector(CurrentMapOrigin)); - UActorAttacher::AttachActors(Child, Parent, InAttachmentType); + UActorAttacher::AttachActors(Child, Parent, InAttachmentType, SocketName); if (bIsPrimaryServer) { diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h index 14d078811..d1b820fea 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h @@ -245,7 +245,8 @@ public: void AttachActors( AActor *Child, AActor *Parent, - EAttachmentType InAttachmentType = EAttachmentType::Rigid); + EAttachmentType InAttachmentType = EAttachmentType::Rigid, + const FString& SocketName = ""); /// @copydoc FActorDispatcher::DestroyActor(AActor*) UFUNCTION(BlueprintCallable) diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp index 16a9bb939..b3adb57e6 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp @@ -711,7 +711,8 @@ void FCarlaServer::FPimpl::BindActions() cr::ActorDescription Description, const cr::Transform &Transform, cr::ActorId ParentId, - cr::AttachmentType InAttachmentType) -> R + cr::AttachmentType InAttachmentType, + const std::string& socket_name) -> R { REQUIRE_CARLA_EPISODE(); @@ -765,7 +766,8 @@ void FCarlaServer::FPimpl::BindActions() Episode->AttachActors( CarlaActor->GetActor(), ParentCarlaActor->GetActor(), - static_cast(InAttachmentType)); + static_cast(InAttachmentType), + FString(socket_name.c_str())); } else { @@ -2761,7 +2763,8 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_ c.description, c.transform, *c.parent, - cr::AttachmentType::Rigid) : + cr::AttachmentType::Rigid, + c.socket_name) : spawn_actor(c.description, c.transform); if (!result.HasError()) { diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.cpp index 56ca9185a..e0563522c 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.cpp @@ -96,7 +96,8 @@ static void UActorAttacher_AttachActorsWithSpringArmGhost( void UActorAttacher::AttachActors( AActor *Child, AActor *Parent, - const EAttachmentType AttachmentType) + const EAttachmentType AttachmentType, + const FString& SocketName) { check(Child != nullptr); check(Parent != nullptr); @@ -104,7 +105,7 @@ void UActorAttacher::AttachActors( switch (AttachmentType) { case EAttachmentType::Rigid: - Child->AttachToActor(Parent, FAttachmentTransformRules::KeepRelativeTransform); + Child->AttachToActor(Parent, FAttachmentTransformRules::KeepRelativeTransform, FName(*SocketName)); break; case EAttachmentType::SpringArm: UActorAttacher_AttachActorsWithSpringArm(Child, Parent); diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.h index 4f6d5d1dd..e95c24ae7 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.h @@ -42,5 +42,5 @@ class CARLA_API UActorAttacher : public UBlueprintFunctionLibrary public: UFUNCTION(BlueprintCallable, Category="CARLA|Actor Attacher") - static void AttachActors(AActor *Child, AActor *Parent, EAttachmentType AttachmentType); + static void AttachActors(AActor *Child, AActor *Parent, EAttachmentType AttachmentType, const FString& SocketName = ""); }; From 38ec7d88fdee54be302e021acc7d6509141beaf2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Xavier=20Sol=C3=A9=20Nogu=C3=A9s?= Date: Mon, 19 Feb 2024 10:59:13 +0100 Subject: [PATCH 087/105] Fix windows build: Uninitialized variable error --- .../Plugins/Carla/Source/Carla/Server/CarlaServer.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp index b3adb57e6..7d06f0f81 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp @@ -1299,7 +1299,7 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_ TArray Components; CarlaActor->GetActor()->GetComponents(Components); - USceneComponent* Component; + USceneComponent* Component = nullptr; for(auto Cmp : Components) { if(USceneComponent* SCMP = Cast(Cmp)) @@ -1343,7 +1343,7 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_ TArray Components; CarlaActor->GetActor()->GetComponents(Components); - USceneComponent* Component; + USceneComponent* Component = nullptr; for(auto Cmp : Components) { if(USceneComponent* SCMP = Cast(Cmp)) From e5c76c8c55e7e6d5ba15d6fcf449966efc2d67d7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Xavier=20Sol=C3=A9=20Nogu=C3=A9s?= Date: Mon, 19 Feb 2024 10:54:46 +0100 Subject: [PATCH 088/105] Update documentation --- CHANGELOG.md | 1 + Docs/build_faq.md | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index e544aa3c3..96d0e88b1 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -5,6 +5,7 @@ * Added functions to get actor' bones transforms * Added functions to get actor' bones and components names * Added functions to get actor' sockets transforms + * make PythonAPI Windows: Fixed incompatibility issue with Anaconda due `py` command. ## CARLA 0.9.15 diff --git a/Docs/build_faq.md b/Docs/build_faq.md index 27ce114dc..07dcc4ada 100644 --- a/Docs/build_faq.md +++ b/Docs/build_faq.md @@ -365,7 +365,7 @@ CARLA forum >In Windows it will be the default Python version for: -> py -3 --version +> python --version >Make sure you are running your scripts with the version of Python that corresponds to your `.egg` file. >In Linux, you may also need to set your Python path to point to the CARLA `.egg`. To do this, run the following command: From 8430a5c33bf166915eb1eef334a0920870f9973c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Xavier=20Sol=C3=A9=20Nogu=C3=A9s?= Date: Mon, 19 Feb 2024 10:55:48 +0100 Subject: [PATCH 089/105] Remove py dependency. --- Util/BuildTools/BuildCarlaUE4.bat | 4 ++-- Util/BuildTools/BuildPythonAPI.bat | 2 +- Util/BuildTools/Package.bat | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/Util/BuildTools/BuildCarlaUE4.bat b/Util/BuildTools/BuildCarlaUE4.bat index bae39a3a1..cb61ed5d2 100644 --- a/Util/BuildTools/BuildCarlaUE4.bat +++ b/Util/BuildTools/BuildCarlaUE4.bat @@ -155,10 +155,10 @@ if exist %OMNIVERSE_PLUGIN_FOLDER% ( ) if %USE_CARSIM% == true ( - py -3 %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject" -e + python %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject" -e set CARSIM_STATE="CarSim ON" ) else ( - py -3 %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject" + python %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject" set CARSIM_STATE="CarSim OFF" ) if %USE_CHRONO% == true ( diff --git a/Util/BuildTools/BuildPythonAPI.bat b/Util/BuildTools/BuildPythonAPI.bat index cc8d92504..9812c8220 100644 --- a/Util/BuildTools/BuildPythonAPI.bat +++ b/Util/BuildTools/BuildPythonAPI.bat @@ -109,7 +109,7 @@ rem Build for Python 3 rem if %BUILD_FOR_PYTHON3%==true ( echo Building Python API for Python 3. - py -3 setup.py bdist_egg bdist_wheel + python setup.py bdist_egg bdist_wheel if %errorlevel% neq 0 goto error_build_wheel ) diff --git a/Util/BuildTools/Package.bat b/Util/BuildTools/Package.bat index 6be833077..82f03da84 100644 --- a/Util/BuildTools/Package.bat +++ b/Util/BuildTools/Package.bat @@ -119,10 +119,10 @@ rem ============================================================================ if %DO_PACKAGE%==true ( if %USE_CARSIM% == true ( - py -3 %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject" -e + python %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject" -e echo CarSim ON > "%ROOT_PATH%Unreal/CarlaUE4/Config/CarSimConfig.ini" ) else ( - py -3 %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject" + python %ROOT_PATH%Util/BuildTools/enable_carsim_to_uproject.py -f="%ROOT_PATH%Unreal/CarlaUE4/CarlaUE4.uproject" echo CarSim OFF > "%ROOT_PATH%Unreal/CarlaUE4/Config/CarSimConfig.ini" ) From a2d6088c743eeae9f918602c299ffbb8a10a3b34 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 19 Feb 2024 15:10:46 +0100 Subject: [PATCH 090/105] force using bash instead of sh to avoid '[['as an error --- Util/BuildTools/Plugins.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/Util/BuildTools/Plugins.sh b/Util/BuildTools/Plugins.sh index 94154d04c..8514acb99 100755 --- a/Util/BuildTools/Plugins.sh +++ b/Util/BuildTools/Plugins.sh @@ -1,3 +1,4 @@ +#!/bin/bash # ============================================================================== # -- Parse arguments ----------------------------------------------------------- # ============================================================================== From a0e40ecd7b1c48f22d2fec5b67643800e8c9cafe Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Mon, 19 Feb 2024 17:05:15 +0100 Subject: [PATCH 091/105] prepare server dependencies stashing --- Jenkinsfile | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/Jenkinsfile b/Jenkinsfile index 4d3691f6e..3f63bb156 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -24,6 +24,16 @@ pipeline } stages { + stage('stash dependencies') + { + agent{ label 'master' } + options{skipDefaultCheckout()} + steps + { + pwd() + sh "ls -la ${pwd()}" + } + } stage('prepare environment') { parallel From 234e12fdc76a93badbab8b99a09b8fd3928e8dc6 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 20 Feb 2024 11:16:07 +0100 Subject: [PATCH 092/105] use a node to get dependencies (test) --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 3f63bb156..39a72f9df 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -26,7 +26,7 @@ pipeline { stage('stash dependencies') { - agent{ label 'master' } + agent{ label 'cache' } options{skipDefaultCheckout()} steps { From ea055907c8e36b82392a2c3ee840c91577282219 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 20 Feb 2024 11:42:11 +0100 Subject: [PATCH 093/105] get dependencies from cache --- Jenkinsfile | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 39a72f9df..f461bdae1 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -30,8 +30,8 @@ pipeline options{skipDefaultCheckout()} steps { - pwd() - sh "ls -la ${pwd()}" + sh "cp ../../Build_Linux.tar.gz ." + stash includes: 'Build_Linux.tar.gz', name: 'build_cache' } } stage('prepare environment') @@ -46,6 +46,8 @@ pipeline { steps { + unstash name: 'build_cache' + sh 'tar -xvzf Build_Linux.tar.gz' sh 'git update-index --skip-worktree Unreal/CarlaUE4/CarlaUE4.uproject' sh 'make setup ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' } From 7373d08cfb56312c0369d5e302d1036d2f7a1423 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 20 Feb 2024 11:57:25 +0100 Subject: [PATCH 094/105] prevent big package generation on PR --- Jenkinsfile | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index f461bdae1..8c103a91a 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -30,6 +30,7 @@ pipeline options{skipDefaultCheckout()} steps { + sh "echo ${BRANCH_NAME}" sh "cp ../../Build_Linux.tar.gz ." stash includes: 'Build_Linux.tar.gz', name: 'build_cache' } @@ -167,7 +168,11 @@ pipeline steps { sh 'make package ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' - sh 'make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' + sh ''' + if [[ "${BRANCH_NAME:0:3}" != "PR_" ]]; then + make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' + fi + ''' sh 'make examples ARGS="localhost 3654"' } post From 87c267eccf5501393f1fe91c58cc4c6af6791bf1 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 20 Feb 2024 12:12:58 +0100 Subject: [PATCH 095/105] testing change --- Jenkinsfile | 1 + 1 file changed, 1 insertion(+) diff --git a/Jenkinsfile b/Jenkinsfile index 8c103a91a..165e981b9 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -31,6 +31,7 @@ pipeline steps { sh "echo ${BRANCH_NAME}" + sh "set" sh "cp ../../Build_Linux.tar.gz ." stash includes: 'Build_Linux.tar.gz', name: 'build_cache' } From 121b58b0254d94de048e080c1de31c710062d228 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 20 Feb 2024 12:56:52 +0100 Subject: [PATCH 096/105] fix condition check to make big package --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 165e981b9..f6a31bbc7 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -170,7 +170,7 @@ pipeline { sh 'make package ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' sh ''' - if [[ "${BRANCH_NAME:0:3}" != "PR_" ]]; then + if [[ "${BRANCH_NAME:0:3}" != "PR-" ]]; then make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' fi ''' From 1a873b69062d54958336d76a460e89126aafead1 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 20 Feb 2024 14:21:55 +0100 Subject: [PATCH 097/105] fix syntax --- Jenkinsfile | 1 + 1 file changed, 1 insertion(+) diff --git a/Jenkinsfile b/Jenkinsfile index f6a31bbc7..b017b1440 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -170,6 +170,7 @@ pipeline { sh 'make package ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' sh ''' + #!/bin/bash if [[ "${BRANCH_NAME:0:3}" != "PR-" ]]; then make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' fi From c0abf59983bed146dbd96284cecb5489d1346f2b Mon Sep 17 00:00:00 2001 From: Blyron <53337103+Blyron@users.noreply.github.com> Date: Tue, 20 Feb 2024 15:01:30 +0100 Subject: [PATCH 098/105] Aaron/digital twins add local file (#7167) * Added timers to setup.sh for downloading and unzipping * Adding support for local XODRs * Added allowtorendering to generate tile commandlet and make sure it works with local files * Update Changelog * Updated OpenDrive To Map --- CHANGELOG.md | 4 +- LibCarla/source/carla/road/Map.cpp | 6 +- .../BP_OpenDriveToMap.uasset | Bin 768496 -> 770195 bytes .../Blueprints/BP_BuildingGenerator.uasset | Bin 1189706 -> 1140264 bytes .../MapPreview/W_MapPreview.uasset | Bin 235393 -> 232361 bytes .../UW_OnRoadMainWidget.uasset | Bin 432269 -> 589867 bytes .../CarlaTools/Private/OpenDriveToMap.cpp | 79 +++++++++++++++--- .../Source/CarlaTools/Public/OpenDriveToMap.h | 6 ++ 8 files changed, 81 insertions(+), 14 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 96d0e88b1..35994951e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,7 +1,9 @@ ## Latest Changes * Prevent from segfault on failing SignalReference identification when loading OpenDrive files - * Added vehicle doors to the recorder + * Added vehicle doors to the recorder * Added functions to get actor' components transform + * Added posibility to Digital Twins to work with local files (osm and xodr) + * Enable proper material merging for Building in Digital Twins * Added functions to get actor' bones transforms * Added functions to get actor' bones and components names * Added functions to get actor' sockets transforms diff --git a/LibCarla/source/carla/road/Map.cpp b/LibCarla/source/carla/road/Map.cpp index 70bedbeee..282452c66 100644 --- a/LibCarla/source/carla/road/Map.cpp +++ b/LibCarla/source/carla/road/Map.cpp @@ -1238,7 +1238,11 @@ namespace road { geom::Transform lanetransform = lane->ComputeTransform(s_current); geom::Transform treeTransform(treeposition, lanetransform.rotation); const carla::road::element::RoadInfoSpeed* roadinfo = lane->GetInfo(s_current); - transforms.push_back(std::make_pair(treeTransform,roadinfo->GetType())); + if(roadinfo){ + transforms.push_back(std::make_pair(treeTransform, roadinfo->GetType())); + 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zHaZqlF))lbK?ejF*1J?1gQp@lM*3Dl}qrW+I4pHUW5(E;HXo*p7lk#hBNxvY^~K=DHYQ5PNHR%?L{eRSML2M}-z9Z>J|T4SUR?1f6yK|-h;;QJ#wpe?sT2N(); + } + + FileDownloader->ResultFileName = MapName; + FileDownloader->Url = Url; + + FileDownloader->DownloadDelegate.BindUObject( this, &UOpenDriveToMap::ConvertOSMInOpenDrive ); + FileDownloader->StartDownload(); + } + else if(LocalFilePath.EndsWith(".xodr")) { - FileDownloader = NewObject(); + ImportXODR(); + } + else if(LocalFilePath.EndsWith(".osm")) + { + ImportOSM(); + } + else + { + UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("URL and Local FilePath are Empty. URL: %s Local FilePath: %s"), *Url, *LocalFilePath ); } - FileDownloader->ResultFileName = MapName; - FileDownloader->Url = Url; - - FileDownloader->DownloadDelegate.BindUObject( this, &UOpenDriveToMap::ConvertOSMInOpenDrive ); - FileDownloader->StartDownload(); } void UOpenDriveToMap::CreateTerrain( const int MeshGridSize, const float MeshGridSectionSize) @@ -490,7 +506,7 @@ void UOpenDriveToMap::GenerateAll(const boost::optional& Param { GenerateRoadMesh(ParamCarlaMap, MinLocation, MaxLocation); GenerateLaneMarks(ParamCarlaMap, MinLocation, MaxLocation); - //GenerateSpawnPoints(ParamCarlaMap); + GenerateSpawnPoints(ParamCarlaMap, MinLocation, MaxLocation); CreateTerrain(12800, 256); GenerateTreePositions(ParamCarlaMap, MinLocation, MaxLocation); GenerationFinished(MinLocation, MaxLocation); @@ -714,10 +730,14 @@ void UOpenDriveToMap::GenerateSpawnPoints( const boost::optionalComputeTransform(Wp); - AVehicleSpawnPoint *Spawner = UEditorLevelLibrary::GetEditorWorld()->SpawnActor(); - Spawner->SetActorRotation(Trans.GetRotation()); - Spawner->SetActorLocation(Trans.GetTranslation() + FVector(0.f, 0.f, SpawnersHeight)); - ActorsToMove.Add(Spawner); + if( Trans.GetLocation().X >= MinLocation.X && Trans.GetLocation().Y >= MinLocation.Y && + Trans.GetLocation().X <= MaxLocation.X && Trans.GetLocation().Y <= MaxLocation.Y) + { + AVehicleSpawnPoint *Spawner = UEditorLevelLibrary::GetEditorWorld()->SpawnActor(); + Spawner->SetActorRotation(Trans.GetRotation()); + Spawner->SetActorLocation(Trans.GetTranslation() + FVector(0.f, 0.f, SpawnersHeight)); + ActorsToMove.Add(Spawner); + } } } @@ -878,6 +898,41 @@ bool UOpenDriveToMap::IsInRoad( return false; } +void UOpenDriveToMap::ImportXODR(){ + IPlatformFile& FileManager = FPlatformFileManager::Get().GetPlatformFile(); + FString MyFileDestination = FPaths::ProjectContentDir() + "CustomMaps/" + MapName + "/OpenDrive/" + MapName + ".xodr"; + + if(FileManager.CopyFile( *MyFileDestination, *LocalFilePath, + EPlatformFileRead::None, + EPlatformFileWrite::None)) + { + UE_LOG(LogCarlaToolsMapGenerator, Verbose, TEXT("FilePaths: File Copied!")); + FilePath = MyFileDestination; + LoadMap(); + } + else + { + UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("FilePaths local xodr file not copied: File not Copied!")); + } +} + +void UOpenDriveToMap::ImportOSM(){ + IPlatformFile& FileManager = FPlatformFileManager::Get().GetPlatformFile(); + FString MyFileDestination = FPaths::ProjectContentDir() + "CustomMaps/" + MapName + "/OpenDrive/" + MapName + ".osm"; + + if(FileManager.CopyFile( *MyFileDestination, *LocalFilePath, + EPlatformFileRead::None, + EPlatformFileWrite::None)) + { + UE_LOG(LogCarlaToolsMapGenerator, Verbose, TEXT("FilePaths: File Copied!")); + ConvertOSMInOpenDrive(); + } + else + { + UE_LOG(LogCarlaToolsMapGenerator, Error, TEXT("FilePaths local osm file not copied: File not Copied!")); + } +} + void UOpenDriveToMap::MoveActorsToSubLevels(TArray ActorsToMove) { AActor* QueryActor = UGameplayStatics::GetActorOfClass( diff --git a/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/OpenDriveToMap.h b/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/OpenDriveToMap.h index 2002c8275..115b456bb 100644 --- a/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/OpenDriveToMap.h +++ b/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/OpenDriveToMap.h @@ -91,6 +91,9 @@ public: UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Settings" ) FString Url; + UPROPERTY( EditAnywhere, BlueprintReadWrite, Category="Settings" ) + FString LocalFilePath; + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Settings") FVector2D OriginGeoCoordinates; @@ -213,6 +216,9 @@ private: void InitTextureData(); + void ImportXODR(); + void ImportOSM(); + UPROPERTY() UCustomFileDownloader* FileDownloader; UPROPERTY() From dd0fd15e9e5238e287ed244e8bb2c56024ddf871 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Tue, 20 Feb 2024 16:50:14 +0100 Subject: [PATCH 099/105] fix sh syntax --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index b017b1440..6a61da923 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -171,7 +171,7 @@ pipeline sh 'make package ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' sh ''' #!/bin/bash - if [[ "${BRANCH_NAME:0:3}" != "PR-" ]]; then + if [ "${BRANCH_NAME}" != "PR-*" ]; then make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' fi ''' From 5175b448283e61382b48b430b4c0af1199a9ef7e Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 21 Feb 2024 10:18:51 +0100 Subject: [PATCH 100/105] fix syntax error --- Jenkinsfile | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 6a61da923..46f015093 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -170,9 +170,8 @@ pipeline { sh 'make package ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' sh ''' - #!/bin/bash if [ "${BRANCH_NAME}" != "PR-*" ]; then - make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64"' + make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64" fi ''' sh 'make examples ARGS="localhost 3654"' From 694ad122ac48339f89b1453bd98c31b20e78af82 Mon Sep 17 00:00:00 2001 From: Daraan Date: Wed, 21 Feb 2024 11:46:20 +0100 Subject: [PATCH 101/105] Bugfixes for python agents obstacle detection when empty vehicle_list is passed. (#7142) * Bugfix for empty vehicle_list Bug description: When an empty list is passed this fills the list with all vehicles; this is not intended. 1) This does not allow to pass an empty list, e.g. if no vehicles are nearby. 2) On a map without pedestrians, this code is also used with an empty list which then detects cars as pedestrians. * Update CHANGELOG.md with agent bugfix note --------- Co-authored-by: Blyron <53337103+Blyron@users.noreply.github.com> --- CHANGELOG.md | 1 + PythonAPI/carla/agents/navigation/basic_agent.py | 6 ++++-- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 35994951e..4b307d469 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,6 +8,7 @@ * Added functions to get actor' bones and components names * Added functions to get actor' sockets transforms * make PythonAPI Windows: Fixed incompatibility issue with Anaconda due `py` command. + * Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py) ## CARLA 0.9.15 diff --git a/PythonAPI/carla/agents/navigation/basic_agent.py b/PythonAPI/carla/agents/navigation/basic_agent.py index 093749d5a..44e6d0351 100644 --- a/PythonAPI/carla/agents/navigation/basic_agent.py +++ b/PythonAPI/carla/agents/navigation/basic_agent.py @@ -345,12 +345,14 @@ class BasicAgent(object): return None return Polygon(route_bb) - + if self._ignore_vehicles: return (False, None, -1) - if not vehicle_list: + if vehicle_list is None: vehicle_list = self._world.get_actors().filter("*vehicle*") + if len(vehicle_list) == 0: + return (False, None, -1) if not max_distance: max_distance = self._base_vehicle_threshold From 86e5bd8adfa4d5216a8d3378602aad45bf26412a Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Wed, 21 Feb 2024 17:13:50 +0100 Subject: [PATCH 102/105] fix skip build big package on PRs --- Jenkinsfile | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 46f015093..e0b816616 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -170,9 +170,16 @@ pipeline { sh 'make package ARGS="--python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64 --chrono"' sh ''' - if [ "${BRANCH_NAME}" != "PR-*" ]; then + prefix="PR-" + case "$BRANCH_NAME" in + ("$prefix"*) + echo "This is a pull request, skipping complete package" + ;; + (*) + echo "Generating complete package" make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64" - fi + ;; + esac ''' sh 'make examples ARGS="localhost 3654"' } From 378ac59f3da026b539c57e7c6e71d0c117f8d752 Mon Sep 17 00:00:00 2001 From: Ruben Abad Date: Thu, 22 Feb 2024 14:04:36 +0100 Subject: [PATCH 103/105] fix error trying to archive Unreal logs that won't exist if big package is not generated --- Jenkinsfile | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index e0b816616..b7352cac9 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -178,6 +178,7 @@ pipeline (*) echo "Generating complete package" make package ARGS="--packages=AdditionalMaps,Town06_Opt,Town07_Opt,Town11,Town12,Town13,Town15 --target-archive=AdditionalMaps --clean-intermediate --python-version=3.8,2 --target-wheel-platform=manylinux_2_27_x86_64" + tar -czf CarlaUE4_logs.tar.gz Unreal/CarlaUE4/Saved/Logs/ ;; esac ''' @@ -188,6 +189,8 @@ pipeline always { archiveArtifacts 'Dist/*.tar.gz' + archiveArtifacts artifacts:'CarlaUE4_logs.tar.gz', + allowEmptyArchive: true stash includes: 'Dist/CARLA*.tar.gz', name: 'ubuntu_package' stash includes: 'Examples/', name: 'ubuntu_examples' } @@ -219,9 +222,7 @@ pipeline { always { - sh 'tar -czf CarlaUE4_logs.tar.gz Unreal/CarlaUE4/Saved/Logs/' archiveArtifacts 'CarlaUE4.log' - archiveArtifacts 'CarlaUE4_logs.tar.gz' junit 'Build/test-results/smoke-tests-*.xml' } } From f4e87a8e7655be7c29998c23ceaedb2f4c8adcdd Mon Sep 17 00:00:00 2001 From: MattRoweEAIF Date: Mon, 4 Mar 2024 13:33:35 +0100 Subject: [PATCH 104/105] added warning to remove CARLA cache --- Docs/tuto_M_generate_pedestrian_navigation.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/Docs/tuto_M_generate_pedestrian_navigation.md b/Docs/tuto_M_generate_pedestrian_navigation.md index 44c965733..d4e6cb084 100644 --- a/Docs/tuto_M_generate_pedestrian_navigation.md +++ b/Docs/tuto_M_generate_pedestrian_navigation.md @@ -78,10 +78,16 @@ __6.__ A `.bin` file will be created. This file contains the informatio __7.__ Test the pedestrian navigation by starting a simulation and running the example script `generate_traffic.py` in `PythonAPI/examples`. +!!! note + **If you need to rebuild the pedestrian navigation** after updating the map, ensure to delete the CARLA cache. This is normally found in the home directory in Ubuntu (i.e. `cd ~`), or in the user directory in Windows (the directory assigned to the environment variable `USERPROFILE`), remove the folder named `carlaCache` and all of its contents, it is likely to be large in size. + + --- If you have any questions about the process, then you can ask in the [forum](https://github.com/carla-simulator/carla/discussions). + +

    From aa19e139d87056ba2d94689932f570f0ed9c9a95 Mon Sep 17 00:00:00 2001 From: MattRoweEAIF Date: Mon, 4 Mar 2024 13:36:57 +0100 Subject: [PATCH 105/105] removed newlines --- Docs/tuto_M_generate_pedestrian_navigation.md | 2 -- 1 file changed, 2 deletions(-) diff --git a/Docs/tuto_M_generate_pedestrian_navigation.md b/Docs/tuto_M_generate_pedestrian_navigation.md index d4e6cb084..734c13ed7 100644 --- a/Docs/tuto_M_generate_pedestrian_navigation.md +++ b/Docs/tuto_M_generate_pedestrian_navigation.md @@ -86,8 +86,6 @@ __7.__ Test the pedestrian navigation by starting a simulation and running the e If you have any questions about the process, then you can ask in the [forum](https://github.com/carla-simulator/carla/discussions). - -