132 lines
7.2 KiB
Markdown
132 lines
7.2 KiB
Markdown
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# SUMO co-simulation
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CARLA has developed a co-simulation feature with SUMO. This allows to distribute the tasks at will, and exploit the capabilities of each simulation in favour of the user.
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* [__Requisites__](#requisites)
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* [__Run a custom co-simulation__](#run-a-custom-co-simulation)
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* [Create CARLA vtypes](#create-carla-vtypes)
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* [Create the SUMO net](#create-the-sumo-net)
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* [Run the synchronization](#run-the-synchronization)
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* [__Spawn NPCs controlled by SUMO__](#spawn-npcs-controlled-by-sumo)
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---
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## Requisites
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First and foremost, it is necessary to [__install SUMO__](https://sumo.dlr.de/docs/Installing.html) to run the co-simulation. Building from source is recommended over a simple installation, as there are new features and fixes that will improve the co-simulation.
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Once that is done, set the SUMO environment variable.
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```sh
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echo "export SUMO_HOME=/usr/share/sumo" >> ~/.bashrc && source ~/.bashrc
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```
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SUMO is ready to run the co-simulations. There are some examples in `Co-Simulation/Sumo/examples` for __Town01__, __Town04__, and __Town05__. These `.sumocfg` files describe the configuration of the simulation (e.g., net, routes, vehicle types...). Use one of these to test the co-simulation. The script has different options that are detailed [below](#run-the-synchronization). For the time being, let's run a simple example for __Town04__.
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Run a CARLA simulation with __Town04__.
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```sh
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cd ~/carla
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./CarlaUE4.sh
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cd PythonAPI/util
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python config.py --map Town04
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```
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Then, run the SUMO co-simulation example.
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```sh
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cd ~/carla/Co-Simulation/Sumo
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python run_synchronization.py examples/Town04.sumocfg --sumo-gui
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```
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!!! Important
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---
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## Run a custom co-simulation
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### Create carla vtypes
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With the script `Co-Simulation/Sumo/util/create_sumo_vtypes.py` the user can create sumo *vtypes*, the equivalent to CARLA blueprints, based on the CARLA blueprint library.
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* __`--carla-host`__ *(default: 127.0.0.1)* — IP of the carla host server.
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* __`--carla-port`__ *(default: 2000)* — TCP port to listen to.
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* __`--output-file`__ *(default: carlavtypes.rou.xml)* — The generated file containing the *vtypes*.
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This script uses the information stored in `data/vtypes.json` to create the SUMO *vtypes*. These can be modified by editing said file.
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!!! Warning
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A CARLA simulation must be running to execute the script.
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### Create the SUMO net
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The recommended way to create a SUMO net that synchronizes with CARLA is using the script `Co-Simulation/Sumo/util/netconvert_carla.py`. This will draw on the [netconvert](https://sumo.dlr.de/docs/NETCONVERT.html) tool provided by SUMO. In order to run the script, some arguments are needed.
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* __`xodr_file`__ — OpenDRIVE file `.xodr`.
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* __`--output'`__ *(default:`net.net.xml`)* — output file `.net.xml`.
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* __`--guess-tls`__ *(default:false)* — SUMO can set traffic lights only for specific lanes in a road, but CARLA can't. For said reason, by default SUMO is forced to make every street light effective in all the lanes of the road that it is affecting. If set to __True__, SUMO will differenciate traffic lights for specific lanes, but CARLA will not.
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The output of the script will be a `.net.xml` that can be edited using __[NETEDIT](https://sumo.dlr.de/docs/NETEDIT.html)__. Use it to edit the routes, add demand, and eventually, prepare a simulation that can be saved as `.sumocfg`.
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The examples provided may be helpful during this process. Take a look at `Co-Simulation/Sumo/examples`. For every `example.sumocfg` there are several related files under the same name. All of them comprise a co-simulation example.
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### Run the synchronization
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Once a simulation is ready and saved as a `.sumocfg`, it is ready to run. There are some optional parameters to change the settings of the co-simulation.
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* __`sumo_cfg_file`__ — The SUMO configuration file.
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* __`--carla-host`__ *(default: 127.0.0.1)* — IP of the carla host server
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* __`--carla-port`__ *(default: 2000)* — TCP port to listen to
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* __`--sumo-host`__ *(default: 127.0.0.1)* — IP of the SUMO host server.
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* __`--sumo-port`__ *(default: 8813)* — TCP port to listen to.
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* __`--sumo-gui`__ — Open a window to visualize the gui version of SUMO.
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* __`--step-length`__ *(default: 0.05s)* — Set fixed delta seconds for the simulation time-step.
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* __`--sync-vehicle-lights`__ *(default: False)* — Synchronize vehicle lights.
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* __`--sync-vehicle-color`__ *(default: False)* — Synchronize vehicle color.
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* __`--sync-vehicle-all`__ *(default: False)* — Synchronize all vehicle properties.
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* __`--tls-manager`__ *(default: none)* — Choose which simulator should manage the traffic lights. The other will update those accordingly. The options are `carla`, `sumo`, and `none`. If `none` is chosen, traffic lights will not be synchronized. Each vehicle would only obey the traffic lights in the simulator that spawn it.
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```sh
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python run_synchronization.py <SUMOCFG FILE> --tls-manager carla --sumo-gui
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```
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!!! Warning
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To stop the co-simulation, press `Ctrl+C` in the terminal that run the script.
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---
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## Spawn NPCs controlled by SUMO
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The co-simulation with SUMO makes for an additional feature. Vehicles can be spawned in CARLA through SUMO, and managed by the later as the Traffi Manager would do.
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The script `spawn_npc_sumo.py` is almost equivalent to the already-known `spawn_npc.py`. This script automatically generates a SUMO network in a temporal folder, based on the active town in CARLA. The script will create random routes and let the vehicles roam around.
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As the script runs a synchronous simulation, and spawns vehicles in it, the arguments are the same that appear in `run_synchronization.py` and `spawn_npc.py`.
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* __`--host`__ *(default: 127.0.0.1)* — IP of the host server.
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* __`--port`__ *(default: 2000)* — TCP port to listen to.
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* __`-n,--number-of-vehicles`__ *(default: 10)* — Number of vehicles spawned.
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* __`--safe`__ — Avoid spawning vehicles prone to accidents.
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* __`--filterv`__ *(default: "vehicle.*")* — Filter the blueprint of the vehicles spawned.
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* __`--sumo-gui`__ — Open a window to visualize SUMO.
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* __`--step-length`__ *(default: 0.05s)* — Set fixed delta seconds for the simulation time-step.
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* __`--sync-vehicle-lights`__ *(default: False)* — Synchronize vehicle lights state.
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* __`--sync-vehicle-color`__ *(default: False)* — Synchronize vehicle color.
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* __`--sync-vehicle-all`__ *(default: False)* — Synchronize all vehicle properties.
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* __`--tls-manager`__ *(default: none)* — Choose which simulator will change the traffic lights' state. The other will update them accordingly. If `none`, traffic lights will not be synchronized.
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```sh
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# Spawn 10 vehicles, that will be managed by SUMO instead of Traffic Manager.
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# CARLA in charge of traffic lights.
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# Open a window for SUMO visualization.
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python spawn_sumo_npc.py -n 10 --tls-manager carla --sumo-gui
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```
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---
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That is all there is so far, regarding for the SUMO co-simulation with CARLA.
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Open CARLA and mess around for a while. If there are any doubts, feel free to post these in the forum.
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<div class="build-buttons">
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<p>
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<a href="https://forum.carla.org/" target="_blank" class="btn btn-neutral" title="Go to the CARLA forum">
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CARLA forum</a>
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</p>
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</div>
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