Carla crash when running a scenario includes pedestrian
RashawnXue opened this issue · 0 comments
RashawnXue commented
Describe the bug
I' m using scenario_runner to run different scenarios, and most of them can run smoothly. But when I try to run a scenario including Pedestrian, Carla just generates the scenario, runs it, and then crashes.
To Reproduce
Steps to reproduce the behavior:
- Running scenario with command
python3 scenario_runner.py --openscenario pedestrian_scenario.xosc
- Scenario is generated and running normally
- Carla carshes and report:
Signal 11 caught.
Malloc Size=65538 LargeMemoryPoolOffset=65554
CommonUnixCrashHandler: Signal=11
Malloc Size=131160 LargeMemoryPoolOffset=196744
Malloc Size=131160 LargeMemoryPoolOffset=327928
Engine crash handling finished; re-raising signal 11 for the default handler. Good bye.
Segmentation fault (core dumped)
Expected behavior
Carla should run the scenario normally like others.
Desktop (please complete the following information):
- OS: Ubuntu 20.04
- CARLA 0.9.13
- Python 3.8.10
- Version 0.9.13
Additional context
The scenario file I use is below:
<?xml version="1.0" encoding="utf-8"?>
<OpenScenario>
<FileHeader revMajor="1" revMinor="0" date="2024-04-19T21:25:05" description="CARLA:test" author=""/>
<CatalogLocations/>
<RoadNetwork>
<LogicFile filepath="Town05"/>
</RoadNetwork>
<Entities>
<ScenarioObject name="hero">
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2.1" length="4.5" height="1.8"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="ego_vehicle"/>
<Property name="color" value="0,0,255"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="adversary">
<Vehicle name="vehicle.tesla.model3" vehicleCategory="car">
<Performance maxSpeed="134.338468" maxAcceleration="320.146407" maxDeceleration="15.416075"/>
<BoundingBox>
<Center x="6.799624" y="-2.825733" z="0.9"/>
<Dimensions width="3.329473" length="7.934908" height="2.233139"/>
</BoundingBox>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
</Axles>
<Properties>
<Property name="type" value="simulation"/>
<Property name="color" value="255,0,0"/>
</Properties>
</Vehicle>
</ScenarioObject>
<ScenarioObject name="Box">
<MiscObject name="static.prop.streetbarrier" miscObjectCategory="obstacle" mass="0.0">
<BoundingBox>
<Center x="-9.670538" y="-4.573179" z="0.75"/>
<Dimensions width="1.442451" length="1.224422" height="0.676124"/>
</BoundingBox>
<Properties>
<Property name="scaleMode" value="ModelToBB"/>
<Property name="model_id" value="15"/>
</Properties>
</MiscObject>
</ScenarioObject>
<ScenarioObject name="pedestrian1">
<Pedestrian name="walker.pedestrian.0003" pedestrianCategory="animal" mass="77.678247">
<BoundingBox>
<Center x="0.597199" y="3.861271" z="0.9"/>
<Dimensions width="2.688169" length="1.101846" height="1.190305"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
</Entities>
<Storyboard>
<Init>
<Actions>
<GlobalAction>
<EnvironmentAction>
<Environment name="weather">
<RoadCondition frictionScaleFactor="1.0"/>
<Weather>
<Precipitation precipitationType="rain" intensity="0.7449851821220737"/>
<Fog visualRange="127626.804184"/>
<Sun intensity="0.447033" elevation="3.141593" azimuth="0.9611"/>
</Weather>
<TimeOfDay dateTime="2020-01-01T12:00:00" animation="true"/>
</Environment>
</EnvironmentAction>
</GlobalAction>
<Private entityRef="hero">
<PrivateAction>
<ControllerAction>
<AssignControllerAction>
<Controller name="HeroAgent">
<Properties>
<Property name="module" value="external_control"/>
</Properties>
</Controller>
</AssignControllerAction>
<OverrideControllerValueAction>
<Throttle value="0" active="false"/>
<Brake value="0" active="false"/>
<Clutch value="0" active="false"/>
<ParkingBrake value="0" active="false"/>
<SteeringWheel value="0" active="false"/>
<Gear number="0" active="false"/>
</OverrideControllerValueAction>
</ControllerAction>
</PrivateAction>
<PrivateAction>
<LateralAction>
<LaneOffsetAction continuous="true">
<LaneOffsetTarget>
<AbsoluteTargetLaneOffset value="0.0"/>
</LaneOffsetTarget>
<LaneOffsetActionDynamics maxLateralAcc="10.0" dynamicsShape="linear"/>
</LaneOffsetAction>
</LateralAction>
</PrivateAction>
<PrivateAction>
<TeleportAction>
<Position>
<LanePosition roadId="5" laneId="-1" offset="0" s="30"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="adversary">
<PrivateAction>
<LateralAction>
<LaneOffsetAction continuous="true">
<LaneOffsetTarget>
<RelativeTargetLaneOffset value="0.0" entityRef="adversary"/>
</LaneOffsetTarget>
<LaneOffsetActionDynamics maxLateralAcc="1.0" dynamicsShape="linear"/>
</LaneOffsetAction>
</LateralAction>
</PrivateAction>
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="10.0"/>
</SpeedActionTarget>
<SpeedActionDynamics value="1.5" dynamicsShape="step" dynamicsDimension="distance"/>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
<PrivateAction>
<RoutingAction>
<AssignRouteAction>
<Route name="d-0" closed="false">
<Waypoint routeStrategy="shortest">
<Position>
<WorldPosition x="-128.5" y="-1.5" z="0.0" h="3.1415926"/>
</Position>
</Waypoint>
<Waypoint routeStrategy="shortest">
<Position>
<LanePosition roadId="1" laneId="1" offset="-2.781724146796636" s="45"/>
</Position>
</Waypoint>
<Waypoint routeStrategy="shortest">
<Position>
<LanePosition roadId="1" laneId="1" offset="1.4398457183267812" s="0"/>
</Position>
</Waypoint>
<Waypoint routeStrategy="shortest">
<Position>
<LanePosition roadId="5" laneId="-2" offset="2.6321894006830053" s="45"/>
</Position>
</Waypoint>
</Route>
</AssignRouteAction>
</RoutingAction>
</PrivateAction>
<PrivateAction>
<RoutingAction>
<AssignRouteAction>
<Route name="d-0" closed="false">
<Waypoint routeStrategy="shortest">
<Position>
<WorldPosition x="-128.5" y="-1.5" z="0.0" h="3.1415926"/>
</Position>
</Waypoint>
<Waypoint routeStrategy="shortest">
<Position>
<LanePosition roadId="1" laneId="1" offset="-0.9574761017182709" s="45"/>
</Position>
</Waypoint>
<Waypoint routeStrategy="shortest">
<Position>
<LanePosition roadId="1" laneId="1" offset="4.998056755719968" s="0"/>
</Position>
</Waypoint>
<Waypoint routeStrategy="shortest">
<Position>
<LanePosition roadId="5" laneId="-2" offset="-1.976123362814878" s="45"/>
</Position>
</Waypoint>
</Route>
</AssignRouteAction>
</RoutingAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian1">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-110" y="-10" z="0"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
</Actions>
</Init>
<Story name="MyStory">
<Act name="Behaviour">
<ManeuverGroup name="MyManeuverGroup" maximumExecutionCount="1">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="adversary"/>
</Actors>
<Maneuver name="MyManeuver">
<Event name="speed_change_event-1" priority="overwrite">
<Action name="MyEventAction">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="1.5" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="25"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="EventTrigger1" delay="0" conditionEdge="none">
<ByValueCondition>
<SimulationTimeCondition value="0" rule="greaterOrEqual"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event name="MyEvent1" priority="overwrite">
<Action name="MyEventAction">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="step" value="2.0" dynamicsDimension="distance"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="0"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="EventTrigger1" delay="0" conditionEdge="none">
<ByValueCondition>
<SimulationTimeCondition value="30" rule="greaterOrEqual"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
<Event priority="override" name="TrafficSignalEvent" maximumExecutionCount="1081">
<Action name="signal_action">
<GlobalAction>
<InfrastructureAction>
<TrafficSignalAction>
<TrafficSignalStateAction name="pos=46.349998,-178.500000" state="yellow"/>
</TrafficSignalAction>
</InfrastructureAction>
</GlobalAction>
</Action>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger/>
<StopTrigger>
<ConditionGroup>
<Condition name="EndCondition" delay="0" conditionEdge="none">
<ByValueCondition>
<SimulationTimeCondition value="60" rule="greaterOrEqual"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
<Act name="PedestrianAct">
<ManeuverGroup name="PedestrianManeuver" maximumExecutionCount="1">
<Actors selectTriggeringEntities="false">
<EntityRef entityRef="pedestrian1"/>
</Actors>
<Maneuver name="Pedestrian1RouteManeuver">
<Event name="Pedestrian1WalksEvent" priority="overwrite">
<Action name="Pedestrian1Walks">
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
<SpeedActionDynamics dynamicsShape="sinusoidal" value="6.434985208621671" dynamicsDimension="time"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="1.9297630547828803"/>
</SpeedActionTarget>
</SpeedAction>
</LongitudinalAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
<Condition name="Pedestrian1WalksCondition" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="2.0" rule="greaterOrEqual"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StartTrigger>
</Event>
</Maneuver>
</ManeuverGroup>
<StartTrigger/>
<StopTrigger>
<ConditionGroup>
<Condition name="Pedestrian1StopCondition" delay="0" conditionEdge="none">
<ByValueCondition>
<SimulationTimeCondition value="60.0" rule="greaterOrEqual"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
</StopTrigger>
</Act>
</Story>
<StopTrigger/>
</Storyboard>
</OpenScenario>
Hopefully I can get some help. Thanks!!