Trying to run scenario_runner example script fails - ModuleNotFoundError: No module named 'DReyeVR_utils'

[ethicallab]

Hello again Gustavo and HARPLab,

I am trying to run the following code/ here is my output:

python run_experiment.py --title "dreyevr_experiment" --route %SCENARIO_RUNNER_ROOT%\srunner\data\routes_custom.xml %SCENARIO_RUNNER_ROOT%\srunner\data\town05_scenarios.json 0
Traceback (most recent call last):
File "run_experiment.py", line 27, in
from scenario_runner import ScenarioRunner
File "C:\Users\kp\Documents\G\carla9.12\scenario_runner\scenario_runner.py", line 39, in
from srunner.scenarios.route_scenario import RouteScenario
File "C:\Users\kp\Documents\G\carla9.12\scenario_runner\srunner\scenarios\route_scenario.py", line 52, in
from DReyeVR_utils import find_ego_vehicle
ModuleNotFoundError: No module named 'DReyeVR_utils'

I have executed the commands to make both DReyeVR and the scenario runner part of DReyeVR.

Any thoughts are appreciated! Thanks again!

[GustavoSilvera]

Hi @ethicallab. To help diagnose this issue, I'd like to know how you are running python. Are you doing it through the native Windows 10 py command or a conda environment or did you install python to the system?

If you use a conda environment the dependencies are usually a non-issue as everything is handled as described here.

In either case, it looks like your Python cannot find the DReyeVR_utils module which is a subset of the carla module. In order to give scenario_runner access to the DReyeVR_utils module you need to make sure PythonAPI\examples is located on the PythonPath somewhere. You can add this either to your system PYTHONPATH variable (if you are using the system python) or to the carla.pth file if you are using conda.

Hope this helps!

[aureliuszi]

Hi! We are running Python through the x64 Native Tools command prompt. Here is our PYTHONPATH (ignore the "carla9.12", it is actually 0.9.13 and I mis-named it)

echo %PYTHONPATH%

C:\Users\kp\Documents\G\carla9.12\carla\Build\UE4Carla\0.9.13-1-g8854804f4-dirty\WindowsNoEditor\PythonAPI\carla\dist\carla-0.9.13-py3.7-win-amd64.egg;

C:\Users\kp\Documents\G\carla9.12\carla\Build\UE4Carla\0.9.13-1-g8854804f4-dirty\WindowsNoEditor\PythonAPI\carla\agents;

C:\Users\kp\Documents\G\carla9.12\carla\Build\UE4Carla\0.9.13-1-g8854804f4-dirty\WindowsNoEditor\PythonAPI\carla;

C:\Users\kp\Documents\G\carla9.12\carla\Build\UE4Carla\0.9.13-1-g8854804f4-dirty\WindowsNoEditor\PythonAPI

Will add PythonAPI/examples

[aureliuszi]

Hi! Here is the traceback after adding examples to the PYTHONPATH

python run_experiment.py --title "dreyevr_experiment" --route %SCENARIO_RUNNER_ROOT%\srunner\data\routes_custom.xml %SCENARIO_RUNNER_ROOT%\srunner\data\town05_scenarios.json 0
Starting scenario runner
Traceback (most recent call last):
  File "run_experiment.py", line 175, in <module>
    main()
  File "run_experiment.py", line 168, in main
    start_scenario_runner(scenario_runner_instance)
  File "run_experiment.py", line 35, in start_scenario_runner
    result = scenario_runner_instance.run()
  File "C:\Users\kp\Documents\G\carla9.12\scenario_runner\scenario_runner.py", line 509, in run
    result = self._run_route()
  File "C:\Users\kp\Documents\G\carla9.12\scenario_runner\scenario_runner.py", line 470, in _run_route
    route_configurations = RouteParser.parse_routes_file(routes, scenario_file, single_route)
  File "C:\Users\kp\Documents\G\carla9.12\scenario_runner\srunner\tools\route_parser.py", line 57, in parse_routes_file
    tree = ET.parse(route_filename)
  File "C:\Users\zhuang\AppData\Local\Programs\Python\Python37\lib\xml\etree\ElementTree.py", line 1197, in parse
    tree.parse(source, parser)
  File "C:\Users\zhuang\AppData\Local\Programs\Python\Python37\lib\xml\etree\ElementTree.py", line 587, in parse
    source = open(source, "rb")
FileNotFoundError: [Errno 2] No such file or directory: 'C:\\Users\\kp\\Documents\\G\\carla9.12\\scenario_runner\\srunner\\data\\routes_custom.xml'

I attempted to run the test given on the scenario runner documentation and here is the error:

python scenario_runner.py --scenario FollowLeadingVehicle_1 --reloadWorld
Traceback (most recent call last):
  File "scenario_runner.py", line 607, in main
    result = scenario_runner.run()
  File "scenario_runner.py", line 511, in run
    result = self._run_scenarios()
  File "scenario_runner.py", line 451, in _run_scenarios
    result = self._load_and_run_scenario(config)
  File "scenario_runner.py", line 355, in _load_and_run_scenario
    if not self._load_and_wait_for_world(config.town, config.ego_vehicles):
  File "scenario_runner.py", line 307, in _load_and_wait_for_world
    self.world = self.client.load_world(town)
RuntimeError: time-out of 10000ms while waiting for the simulator, make sure the simulator is ready and connected to 127.0.0.1:2000

[aureliuszi]

Hi again, after restarting my computer and adding PythonAPI/Utils to the PYTHONPATH, I was able to run the example scenario runner test from the documentation and produce these errors. In this case, the leading vehicle never appeared.

>python scenario_runner.py --scenario FollowLeadingVehicle_1 --reloadWorld

C:\Users\kp\Documents\G\carla9.12\scenario_runner>python scenario_runner.py --scenario FollowLeadingVehicle_1 --reloadWorld
INFO:  Could not find the required file in cache, downloading...  Carla/Maps//OpenDrive/Town01.xodr
INFO:  Could not find the required file in cache, downloading...  Carla/Maps//Nav/Town01.bin
INFO:  Could not find the required file in cache, downloading...  Carla/Maps//TM/Town01.bin
INFO:  Found the required file in cache!  Carla/Maps/TM/Town01.bin
Preparing scenario: FollowLeadingVehicle_1
ScenarioManager: Running scenario FollowVehicle
Traceback (most recent call last):
  File "scenario_runner.py", line 412, in _load_and_run_scenario
    self.manager.run_scenario()
  File "C:\Users\kparodi\Documents\G\carla9.12\scenario_runner\srunner\scenariomanager\scenario_manager.py", line 140, in run_scenario
    self.cleanup()
  File "C:\Users\kparodi\Documents\G\carla9.12\scenario_runner\srunner\scenariomanager\scenario_manager.py", line 96, in cleanup
    CarlaDataProvider.cleanup()
  File "C:\Users\kparodi\Documents\G\carla9.12\scenario_runner\srunner\scenariomanager\carla_data_provider.py", line 800, in cleanup
    if actor is not None and actor.is_alive and actor.type_id != CarlaDataProvider.ego_DReyeVR:
AttributeError: type object 'CarlaDataProvider' has no attribute 'ego_DReyeVR'
type object 'CarlaDataProvider' has no attribute 'ego_DReyeVR'
Traceback (most recent call last):
  File "scenario_runner.py", line 607, in main
    result = scenario_runner.run()
  File "scenario_runner.py", line 511, in run
    result = self._run_scenarios()
  File "scenario_runner.py", line 451, in _run_scenarios
    result = self._load_and_run_scenario(config)
  File "scenario_runner.py", line 430, in _load_and_run_scenario
    self._cleanup()
  File "scenario_runner.py", line 186, in _cleanup
    self.manager.cleanup()
  File "C:\Users\kparodi\Documents\G\carla9.12\scenario_runner\srunner\scenariomanager\scenario_manager.py", line 96, in cleanup
    CarlaDataProvider.cleanup()
  File "C:\Users\kparodi\Documents\G\carla9.12\scenario_runner\srunner\scenariomanager\carla_data_provider.py", line 800, in cleanup
    if actor is not None and actor.is_alive and actor.type_id != CarlaDataProvider.ego_DReyeVR:
AttributeError: type object 'CarlaDataProvider' has no attribute 'ego_DReyeVR'

Attempting to run the DReyeVR scenario runner test resulted in the same error as above. (FileNotFoundError: [Errno 2] No such file or directory: 'C:\Users\kp\Documents\G\carla9.12\scenario_runner\srunner\data\routes_custom.xml')

[GustavoSilvera]

Right, ok so for scenario_runner we currently only support the --route mode. Can you try one of those?

PS: the run_experiment.py script is essentially a wrapper around the start_recording.py and scenario_runner.py --route scripts, so you should be able to run the initial command again. Just make sure the routes_X.xml file exists, in our case we created a new file called routes_custom.xml but by default the CARLA scenario_runner repo only contains these xml files.

[aureliuszi]

To clarify, should I have routes_custom.xml if I built the DReyeVR portion of scenario_runner? I currently only have the default files in my srunner/data folder...

[GustavoSilvera]

No, if you cloned from CARLA then you only get the default. Yet unfortunately it appears we did not include this file in our scenario_runner fork which we should've. I'll upload the file here soon and include it in a push to our fork.

For now you should be able to use the default routes files though.

[aureliuszi]

Thanks for the clarification! Based on your instructions I made the following command:

python run_experiment.py --title "dreyevr_experiment" --route %SCENARIO_RUNNER_ROOT%\srunner\data\routes_debug.xml %SCENARIO_RUNNER_ROOT%\srunner\data\all_towns_traffic_scenarios1_3_4.json 0

I successfully handed off control to the AI by pressing 3. The camera wasn't rotating with the car but the scenario was otherwise executing.

I want to ask a couple of things: after I run the above command, there is no need to run python manual_control.py right? Doing that caused my scenario_runner to crash the first time.

Secondly. is there any way to remove the big red target in the 2D mode? Ideally I'm looking to create identical recordings of 2D and VR scenarios for my experiment. Also, I'd need to record them from the passenger seat rather than the driver's seat.

Finally, if the --route mode is the only supported mode, I should develop my scenarios as routes and test them with DReyeVR, correct?

[GustavoSilvera]

Yes, everything is working as expected. You don't need to run manual_control.py since all the input handling is happening inside the server (UE4 instance) and you can use either the keyboard or logitech hardware to control the ego vehicle (assuming the AI isn't driving)

The camera not rotating is exactly issue #14 and we are working on a patch now.

The big red target is what we use as the eye reticle to showcase the location where a user is looking, if you don't want this then you can simply change the params in Configs/DReyeVRConfig.ini specifically DrawFlatReticle to False will stop the target from showing when you run CarlaUE4.exe. If you are running in VR and notice the reticle on the flat-screen UE4 window (This is called the "Spectator screen") then you can disable the "Spectator" related params such as DrawSpectatorReticle

[ajdroid]

In Unreal\CarlaUE4\Config\DReyeVRconfig.ini, set the DrawSpectatorReticle to False to turn off the target while VR is running and DrawFlatReticle to False to turn it off during non-VR operation.

Yes, we support only the route paradigm for developing scenarios.

[aureliuszi]

Thank you @ajdroid and @GustavoSilvera !

I just wanted to clarify one final thing. I am using CARLA to:

1. Create identical recordings of 2D and VR scenarios for my experiment.
2. These scenarios should be "challenging", in the sense that the vehicle may need to swerve to avoid oncoming traffic, or navigate a difficult turn, or do something that a human could not necessarily do.
3. Also, I'd need to record them from the passenger seat rather than the driver's seat.

With DReyeVR's capabilities, this should be possible, correct? Also, I've been looking online but I can't find a lot on route-based scenarios. If you've come across a guide to creating route-based scenarios, could you send it my way?

Thanks again!

[GustavoSilvera]

Hi @aureliuszi sure this sounds like a good fit for DReyeVR.
for 1.) any recordings you make (either in VR or in 2D mode) can be replayed in the other format as well (though it is weird to replay in VR since the camera will match the recordings rather than the actual VR orientation, so it is recommended to replay in 2D mode.)
for 2. Sure, you should be able to program a CARLA-compatible AI driver that has super-human abilities to drive the car. We are currently working on a patch to make the AI handoff/takeover less clunky (which should fix #14) and that will be out soon (ideally in the next few weeks).
for 3. This is also not a problem, you can choose where in the vehicle you want to place the camera by editing the CameraInit variable in the DReyeVRConfig.ini params file. I assume you'd want to record the autopilot driving from the passenger seat (while in VR), this sound totally feasible and I'm interested to see what you come up with!

I believe @ajdroid is more familiar with the route-creation aspect of scenario-runner than I am, so I will hold on answering this.

Hope this helps.

[ajdroid]

@aureliuszi creating routes is an interactive process where you need to pick waypoints on a map to construct a route by using their locations. This is best done in the editor.
An example route can be found here and example usage can be seen in the video here
You can pass in the --debug flag when you use scenario runner to see the waypoints visually on the map.

[GustavoSilvera]

Hi @ethicallab do you have any updates on this issue, we recently specified on the FAQ page some example questions that are related to these and should help.

[GustavoSilvera]

Due to lack of activity, will close this. Feel free to reopen if issue arises again.