Updated Dockerfile to install the latest dependencies.

CHANGELOG.md

@@ -1,5 +1,17 @@
 ## Latest
 
+## Pylot 0.3.2
+  * Fixed bug in parsing CARLA version strings.
+  * Fixed EfficientDet detection operator so that it correctly extracts bounding boxes.
+  * Added indicator stream to logging operators so that they can be used for synchronizing.
+  * Added CenterTrack obstacle tracker.
+  * Fixed LaneNet imports.
+  * Lock pygame to a working version.
+  * Added code to handle top watermarks in watermark callbacks.
+  * Added new tracker evaluation operator, and base eval class.
+  * Added support for CARLA 0.9.11.
+  * Added option to enable evaluation operators to the challenge agent.
+
 ## Pylot 0.3.1
   * Improved perfect lane detector to collect all lanes.
   * Added support for latest CARLA lidar type (CARLA >= 0.9.9.4).

README.md

@@ -77,13 +77,13 @@ pip install -e ./
 
 Next, start the simulator:
 ```console
-export CARLA_HOME=$PYLOT_HOME/dependencies/CARLA_0.9.8/
+export CARLA_HOME=$PYLOT_HOME/dependencies/CARLA_0.9.10.1/
 ./scripts/run_simulator.sh
 ```
 
 In a different terminal, setup the paths:
 ```console
-export CARLA_HOME=$PYLOT_HOME/dependencies/CARLA_0.9.8/
+export CARLA_HOME=$PYLOT_HOME/dependencies/CARLA_0.9.10.1/
 cd $PYLOT_HOME/scripts/
 source ./set_pythonpath.sh
 ```

doc/source/manual_installation.rst

@@ -15,14 +15,14 @@ Next, start the simulator:
 
 .. code-block:: bash
                 
-    export CARLA_HOME=$PYLOT_HOME/dependencies/CARLA_0.9.8/
+    export CARLA_HOME=$PYLOT_HOME/dependencies/CARLA_0.9.10.1/
     ./scripts/run_simulator.sh
 
 In a different terminal, setup the paths:
 
 .. code-block:: bash
 
-    export CARLA_HOME=$PYLOT_HOME/dependencies/CARLA_0.9.8/
+    export CARLA_HOME=$PYLOT_HOME/dependencies/CARLA_0.9.10.1/
     cd $PYLOT_HOME/scripts/
     source ./set_pythonpath.sh
 

docker/Dockerfile

@@ -33,35 +33,35 @@ RUN sudo DEBIAN_FRONTEND=noninteractive sudo DEBIAN_FRONTEND=noninteractive apt-
 RUN sudo apt-get -y update
 RUN sudo apt-get -y install git curl clang python3 python3-pip
 RUN python3 -m pip install --upgrade pip
-RUN pip3 install setuptools setuptools-rust
+RUN python3 -m pip install setuptools setuptools-rust numpy==1.19.5
 RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
 ENV PATH="/home/erdos/.cargo/bin:${PATH}"
 RUN rustup default nightly
 RUN mkdir -p /home/erdos/workspace
 RUN cd /home/erdos/workspace && git clone https://github.com/erdos-project/erdos.git && cd erdos && python3 python/setup.py install --user
 
 # Set up Pylot.
-RUN sudo apt-get install -y python3-pip libcudnn7 cuda-toolkit-10-0 ssh libqt5core5a libeigen3-dev cmake qtbase5-dev libpng16-16 libtiff5
+RUN sudo apt-get install -y libcudnn7 cuda-toolkit-10-0 ssh libqt5core5a libeigen3-dev cmake qtbase5-dev libpng16-16 libtiff5 python3-tk
 # Get the Pylot directory.
 RUN cd /home/erdos/workspace && git clone https://github.com/erdos-project/pylot.git
 WORKDIR /home/erdos/workspace/pylot/
 ENV PYLOT_HOME /home/erdos/workspace/pylot/
 # Install all the Python dependencies.
-RUN cd /home/erdos/workspace/pylot/ && pip3 install -e ./
+RUN cd /home/erdos/workspace/pylot/ && python3 -m pip install -e ./
 # Get the Pylot models and code dependencies.
 RUN cd /home/erdos/workspace/pylot/ && ./install.sh
-ENV CARLA_HOME /home/erdos/workspace/pylot/dependencies/CARLA_0.9.11
+ENV CARLA_HOME /home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1
 # Clone scenario_runner.
-RUN cd /home/erdos/workspace &&  git clone https://github.com/erdos-project/scenario_runner.git
+RUN cd /home/erdos/workspace && git clone https://github.com/erdos-project/scenario_runner.git
 # Install scenario_runner's dependencies.
-RUN pip3 install py-trees==0.8.3 networkx==2.2 Shapely==1.6.4 psutil xmlschema==1.0.18 ephem tabulate
+RUN python3 -m pip install py-trees==0.8.3 networkx==2.2 Shapely==1.6.4 psutil==5.7.0 xmlschema==1.0.18 ephem==3.7.6.0 tabulate==0.8.7 six==1.14.0
 # Clone leaderboard.
-RUN git clone https://github.com/erdos-project/leaderboard.git
-RUN pip3 install dictor requests
+RUN cd /home/erdos/workspace && git clone https://github.com/erdos-project/leaderboard.git
+RUN python3 -m pip install dictor requests
 
-RUN echo "export PYTHONPATH=/home/erdos/workspace/pylot/dependencies/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.11/PythonAPI/carla/dist/carla-0.9.11-py3.7-linux-x86_64.egg:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.11/PythonAPI/carla/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.11/PythonAPI/carla/agents/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.11/PythonAPI/:/home/erdos/workspace/scenario_runner" >> ~/.bashrc
+RUN echo "export PYTHONPATH=/home/erdos/workspace/pylot/dependencies/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/agents/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/:/home/erdos/workspace/scenario_runner" >> ~/.bashrc
 RUN echo "export PYLOT_HOME=/home/erdos/workspace/pylot/" >> ~/.bashrc
-RUN echo "export CARLA_HOME=/home/erdos/workspace/pylot/dependencies/CARLA_0.9.11" >> ~/.bashrc
+RUN echo "export CARLA_HOME=/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1" >> ~/.bashrc
 RUN echo "if [ -f ~/.bashrc ]; then . ~/.bashrc ; fi" >> ~/.bash_profile
 
 # Set up ssh access to the container.

install.sh

@@ -9,10 +9,10 @@ fi
 
 sudo apt-get -y update
 sudo apt-get install -y git wget cmake python3-pip unzip clang libpng-dev libgeos-dev
-pip3 install gdown --user
 # Install opencv separately because pip3 install doesn't install all libraries
 # opencv requires.
 sudo apt-get install -y python3-opencv
+python3 -m pip install --user gdown
 
 ###############################################################################
 # Get models & code bases we depend on
@@ -159,12 +159,12 @@ git clone https://github.com/mileyan/AnyNet.git
 cd AnyNet/models/spn_t1/ ; python3 setup.py clean ; python3 setup.py build
 
 ###### Download the Carla simulator ######
-echo "[x] Downloading the CARLA 0.9.11 simulator..."
+echo "[x] Downloading the CARLA 0.9.10.1 simulator..."
 cd $PYLOT_HOME/dependencies/
-if [ "$1" != 'challenge' ] && [ ! -d "CARLA_0.9.11" ]; then
-    mkdir CARLA_0.9.11
-    cd CARLA_0.9.11
-    wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.11.tar.gz
-    tar -xvf CARLA_0.9.11.tar.gz
-    rm CARLA_0.9.11.tar.gz
+if [ "$1" != 'challenge' ] && [ ! -d "CARLA_0.9.10.1" ]; then
+    mkdir CARLA_0.9.10.1
+    cd CARLA_0.9.10.1
+    wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.10.1.tar.gz
+    tar -xvf CARLA_0.9.10.1.tar.gz
+    rm CARLA_0.9.10.1.tar.gz
 fi

pylot/planning/frenet_optimal_trajectory/fot_planner.py

@@ -20,6 +20,7 @@ def __init__(self, world, flags, logger):
         super().__init__(world, flags, logger)
         self.s0 = 0.0
         self._hyperparameters = {
+            "num_threads": 1,
             "max_speed": flags.max_speed,
             "max_accel": flags.max_accel,
             "max_curvature": flags.max_curvature,

pylot/simulation/carla_operator.py

@@ -302,17 +302,11 @@ def run(self):
         # they register a listener. Thus, we sleep here a bit to
         # give them sufficient time to register a callback.
         time.sleep(4)
-        registered_callback = False
-        if pylot.simulation.utils.check_simulator_version(
-                self._simulator_version, required_minor=9, required_patch=11):
-            self._world.on_tick(self.send_actor_data)
-            registered_callback = True
         self._tick_simulator()
         time.sleep(4)
-        if not registered_callback:
-            # The older CARLA versions require an additional tick to sync
-            # sensors.
-            self._world.on_tick(self.send_actor_data)
+        # The older CARLA versions require an additional tick to sync
+        # sensors.
+        self._world.on_tick(self.send_actor_data)
         self._tick_simulator()
 
     def _initialize_world(self):

pylot/simulation/challenge/ERDOSAgent.py

@@ -167,8 +167,13 @@ def run_step(self, input_data, timestamp):
         e2e_runtime = (time.time() - start_time) * 1000
         self.csv_logger.info('{},{},e2e_runtime,{:.4f}'.format(
             pylot.utils.time_epoch_ms(), game_time, e2e_runtime))
-        # return command, int(e2e_runtime)
-        return command
+        if FLAGS.simulator_mode == 'synchronous':
+            return command
+        elif FLAGS.simulator_mode == 'pseudo-asynchronous':
+            return command, int(e2e_runtime)
+        else:
+            raise ValueError('Unexpected simulator_mode {}'.format(
+                FLAGS.simulator_mode))
 
     def send_localization(self, timestamp, imu_data, gnss_data, speed_data):
         if FLAGS.localization:

pylot/simulation/utils.py

@@ -19,8 +19,9 @@ def check_simulator_version(simulator_version: str,
     """Checks if the simulator meets the minimum version requirements."""
     ver_strs = simulator_version.split('.')
     if len(ver_strs) < 2 or len(ver_strs) > 3:
-        raise ValueError(
-            'CARLA version {} is not supported'.format(simulator_version))
+        print('ERROR: CARLA version {} is not supported; assuming this is '
+              'version 0.9.10'.format(simulator_version))
+        ver_strs = '0.9.10'.split('.')
     major = int(ver_strs[0])
     minor = int(ver_strs[1])
     if major != required_major:

requirements.txt

@@ -1,10 +1,9 @@
 absl-py
 cvxpy
 erdos>=0.3.1
-gdown
 lapsolver
 motmetrics
-numpy<1.17
+numpy<1.20
 open3d-python==0.5.0.0
 opencv-python>=4.1.0.25
 opencv-contrib-python>=4.1.0.25

setup.py

@@ -2,7 +2,7 @@
 
 setup(
     name="erdos-pylot",
-    version="0.3.1",
+    version="0.3.2",
     author="Pylot Team",
     description=("A platform for developing autonomous vehicles."),
     long_description=open("README.md").read(),
@@ -14,10 +14,9 @@
         "absl-py",
         "cvxpy",
         "erdos>=0.3.1",
-        "gdown",
         "lapsolver",
         "motmetrics",
-        "numpy<1.17",  # Update to newer numpy version once we switch to tf2
+        "numpy<1.20",  # Update to newer numpy version once we switch to tf2
         "open3d-python==0.5.0.0",
         "opencv-python>=4.1.0.25",
         "opencv-contrib-python>=4.1.0.25",
@@ -37,7 +36,7 @@
         "imgaug==0.2.8",
         "matplotlib==2.2.4",
         "nonechucks==0.3.1",
-        "nuscenes-devkit"
+        "nuscenes-devkit",
         "progress",
         "pyquaternion",
         "scikit-learn==0.22.2",