132 lines
7.1 KiB
Markdown
132 lines
7.1 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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python3 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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python3 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. If set to __True__, SUMO will not differenciate traffic lights for specific lanes, and these will be in sync with CARLA.
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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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python3 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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python3 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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