GeoScenario Server

Includes: GeoScenario Parser, Checker, Sim Vehicle Planner with Behavior Trees and Maneuver Models.

Dependencies

• Linux, macOS, or Windows 10/11 + WSL2
• Python 3 >= 3.8

GeoScenario Server can run natively on Linux, within a conda-forge environment, or on WSL2.

Deb packages for Linux native

Tested on native Ubuntu 20.04, 22.04, 24.04, and within Windows 10 WSL2.

• python3
• python3-dev
• python3-tk
• python3-pip
• python3-pil
• python3-pil.imagetk

Python packages

• antlr4-python3-runtime==4.9.3 (later versions cause a parsing error Exception: Could not deserialize ATN with version (expected 4).)
• antlr-denter
• glog
• lanelet2
• matplotlib
• numpy
• scipy
• py_trees==0.7.6
• sysv-ipc
• tk

To automatically install the dependencies for linux native, execute

bash scripts/install_dependencies.bash

Alternatively, to automatically create a conda-forge environment called gss with the required packages, execute

bash scripts/setup_conda-forge_env.bash

Running

• run python3 GSServer.py -s scenarios/<geoscenario_file> to start the Server.

optional arguments:
  -h, --help            show this help message and exit
  -s [FILE [FILE ...]], --scenario [FILE [FILE ...]]
                        GeoScenario file. If no file is provided, the GSServer will load a scenario from code
  -q VERBOSE, --quiet VERBOSE
                        don't print messages to stdout
  -m, --map-path
                        Set the prefix to append to the value of the attribute `globalconfig->lanelet`
                        e.g. --map-path $HOME/anm_unreal_test_suite/maps
  -b, --btree-locations
                        Add higher priority locations to search for btrees by agent btypes
                        e.g. --btree-locations $HOME/anm_unreal_test_suite/btrees

• GeoScenario files (2.0 required) must be placed inside scenarios/
• If a file is not given, you must provide a manual problem startup from code.
• LaneletMap files must be placed inside scenarios/maps (a map file is mandatory).
• Co-Simulator (Unreal or other) is optional.

Loading multiple scenario files

• The --scenario option can take more than one .osm file as its arguments
• For example,

python3 GSServer.py --scenario scenarios/test_scenarios/gs_straight_obstacles.osm scenarios/test_scenarios/gs_straight_pedestrian.osm

• With the exception of globalconfig and origin, the elements from each scenario are loaded and combined at runtime
• The globalconfig and origin are used from the first .osm file that is specified (which is gs_straight_obstacles.osm in the example)
• Multiple scenarios can define vehicles and pedestrians with the same vids and pids
• If these scenarios are passed to the --scenario option, then an error will be reported
• All vid and pid conflicts must be resolved before running GSServer.py
• Scenarios can contain vehicles with no vid and pedestrians with no pid
• These vehicles and pedestrians will be auto-assigned vids and pids
• Auto-assigned vids and pids will start from 1 and won't conflict with the other vids and pids

Configuration:

• Check SimConfig.py for configuration options.
• Adjust FRAME_RATE based on hardware performance to avoid drift (Recommended 30Hz).
• Adjust PLANNER_RATE based on hardware performance and what scenario requirements.
• Use SHOW_DASHBOARD = True for GUI. Adjust dashboard refresh rate according to performance.
• Simulations can only run in Real Time (so far).

Co-Simulation:

• Use the shared memory keys inside SimConfig to read/write the server shared memory blocks.
• We provide a GeoScenario Client for Unreal in /unreal.

Documentation:

GeoScenario documentation can be found here.

Demo

GeoScenario Server running in High Fidelity Simulation with UE5 and Carla

Youtube Video

Questions?

rqueiroz@uwaterloo.ca