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learn-to-race / l2r

Open-source reinforcement learning environment for autonomous racing — featured as a conference paper at ICCV 2021 and as the official challenge tracks at both SL4AD@ICML2022 and AI4AD@IJCAI2022. These are the L2R core libraries.

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Simulator loads car without sensors

MatthewHowe opened this issue · comments

commented

We have just got the simulator running and have begun trying to use this repo to interface with it. We are running run.bash -b 'random' with default YAML configs/params_random.yaml.
We have come across some issues:

  • The default car loading into the sim is the Robocar, not DevBot (not sure if this is expected)
  • The default car loading into the simulator does not have sensors and hence the request for cameras does not succeed.
  • There are no cars which have default sensors Camera{location}RGB that we can find in the simulator

We have been trying to find where the car is set with no luck, only the file which configs/l2r_vehicle_conf.yaml, but it does not appear to be used in any code.

Maybe relevant information:

  • We don't currently have access to the docker container for $ docker load < arrival-sim-image.tar.gz
  • We are running the simulator in one terminal and the shell script in another

NOTE: We are able to get the random script to run if we change the vehicle in the sim to one with a camera (SimCamera90Front) and change the camera name in configs/params_random.yaml, however it then crashes with the following occasionally.

Output when we experience a simulator crash:

(l2r)  james@compact  ~/Documents/l2r/l2r   main ±  ./run.bash -b "random"
Starting simulator
sudo: unknown user: ubuntu
sudo: unable to initialise policy plugin
/home/james/miniconda3/envs/l2r/lib/python3.8/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
[SimulatorController] Setting level to Thruxton
[SimulatorController] Setting to RL mode for vehicle: 0
[SimulatorController] Enabling SimCamera90Front
{'jsonrpc': '2.0', 'error': {'code': -32602, 'message': "Protocol error, 'sensor_name' == 'SimCamera90Front' not found"}, 'id': 3}
Disconnected from simulator

(l2r)  james@compact  ~/Documents/l2r/l2r   main ±  ./run.bash -b "random"
Starting simulator
sudo: unknown user: ubuntu
sudo: unable to initialise policy plugin
/home/james/miniconda3/envs/l2r/lib/python3.8/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
[SimulatorController] Setting level to AngleseyNational
[SimulatorController] Setting to RL mode for vehicle: 0
{'jsonrpc': '2.0', 'params': {'veh_id': 0, 'sensor_name': 'ArrivalVehicleDriver', 'parameter_name': 'DriverAPIClass', 'value': 'VApiUdp'}, 'id': 2, 'method': 'set_sensor_param'}
Disconnected from simulator

Then with sim:

[2021.11.18-07.51.31:135][754]WebSocket: Error: JSON RPC: Protocol error, 'sensor_name' == 'SimCamera90Front' not found
[2021.11.18-07.51.31:217][763]WebSocket: Client ID 325 is disconnected
[2021.11.18-07.51.55:561][458]WebSocket: Client ID 325 is connected
[2021.11.18-07.51.55:586][460]LogNet: Browse: /Game/Ribbon/anglesey_national/anglesey_national
[2021.11.18-07.51.55:586][460]LogStreaming: Display: Flushing async loaders.
[2021.11.18-07.51.55:587][460]LogLoad: LoadMap: /Game/Ribbon/anglesey_national/anglesey_national
[2021.11.18-07.51.55:587][460]LogWorld: BeginTearingDown for /Game/Ribbon/thruxton/thruxton
[2021.11.18-07.51.55:588][460]LogArrival: Saved GameModeWrapper settings
[2021.11.18-07.51.55:588][460]WebSocket: Save JsonRpc settings to "../../../ArrivalSim/Saved/SaveGames/JsonRPC.json"
[2021.11.18-07.51.55:588][460]LogArrival: Save vehicle states: DefVehicle_Robocar_C
[2021.11.18-07.51.55:732][460]LogWorld: UWorld::CleanupWorld for thruxton, bSessionEnded=true, bCleanupResources=true
[2021.11.18-07.51.55:733][460]LogSlate: InvalidateAllWidgets triggered.  All widgets were invalidated
[2021.11.18-07.51.55:737][460]LogAudioMixer: Display: No commands were queued while flushing the source manager.
[2021.11.18-07.51.55:901][460]LogUObjectHash: Compacting FUObjectHashTables data took   2.12ms
[2021.11.18-07.51.56:518][460]LogAIModule: Creating AISystem for world anglesey_national
[2021.11.18-07.51.57:261][460]LogLoad: Game class is 'ArrivalGameMode_C'
[2021.11.18-07.51.57:268][460]LogWorld: Bringing World /Game/Ribbon/anglesey_national/anglesey_national.anglesey_national up for play (max tick rate 0) at 2021.11.18-18.21.57
[2021.11.18-07.51.57:280][460]LogArrival: UArrivalStatics::AddV2VComponentToAllVehiclesInLevel - no vehicles found
[2021.11.18-07.51.57:311][460]LogStreaming: Warning: Failed to read file '../../../ArrivalSim/Saved/SaveGames/MissionPlannerCommand.sav' error.
[2021.11.18-07.51.57:314][460]LogWorld: Bringing up level for play took: 0.051578
[2021.11.18-07.51.57:317][460]LogArrival: Vehicle load succeeded: DefVehicle_RobocarDefSensors_C
[2021.11.18-07.51.57:328][460]LogArrival: Start V2X Viwer on port: 3003, shift: X=0.000 Y=0.000 Z=0.000
[2021.11.18-07.51.57:329][460]LogArrival: Create UVApiUdp. SendAddress: 0.0.0.0:7078, RecvPort: 7077
[2021.11.18-07.51.57:329][460]ArrivalBlueprintLibrary: Arrival: Tagging Skeletal Actor: 10
[2021.11.18-07.51.57:330][460]LogLoad: Took 1.739873 seconds to LoadMap(/Game/Ribbon/anglesey_national/anglesey_national)
[2021.11.18-07.51.57:331][460]Five: Assigne new ego-vehicle; Vehicle ID: 10003
Assertion failed: DestStride >= Width * Channels * ChannelBytes [File:/home/gitlab-runner/UE4/UnrealEngine-4.24.3-release/Engine/Plugins/UnrealArrival/Source/UnrealArrival/Private/Sensors/CameraSensor.cpp] [Line: 139] 

Signal 11 caught.
Malloc Size=65538 LargeMemoryPoolOffset=65554 
CommonUnixCrashHandler: Signal=11
Malloc Size=65535 LargeMemoryPoolOffset=131119 
Malloc Size=410096 LargeMemoryPoolOffset=541232 
[2021.11.18-07.51.57:480][460]LogCore: === Critical error: ===
Unhandled Exception: SIGSEGV: invalid attempt to write memory at address 0x0000000000000003

[2021.11.18-07.51.57:480][460]LogCore: Assertion failed: DestStride >= Width * Channels * ChannelBytes [File:/home/gitlab-runner/UE4/UnrealEngine-4.24.3-release/Engine/Plugins/UnrealArrival/Source/UnrealArrival/Private/Sensors/CameraSensor.cpp] [Line: 139] 



0x00007fdf504e4076 libUE4-Core.so!FGenericPlatformMisc::RaiseException(unsigned int) [/home/gitlab-runner/UE4/UnrealEngine-4.24.3-release/Engine/Source/Runtime/Core/Private/GenericPlatform/GenericPlatformMisc.cpp:477]
0x00007fdf506b6447 libUE4-Core.so!FOutputDevice::LogfImpl(char16_t const*, ...) [/home/gitlab-runner/UE4/UnrealEngine-4.24.3-release/Engine/Source/Runtime/Core/Private/Misc/OutputDevice.cpp:71]
0x00007fdf50651336 libUE4-Core.so!AssertFailedImplV(char const*, char const*, int, char16_t const*, __va_list_tag*) [/home/gitlab-runner/UE4/UnrealEngine-4.24.3-release/Engine/Source/Runtime/Core/Private/Misc/AssertionMacros.cpp:105]
0x00007fdf506511cb libUE4-Core.so!FDebug::CheckVerifyFailedImpl(char const*, char const*, int, char16_t const*, ...) [/home/gitlab-runner/UE4/UnrealEngine-4.24.3-release/Engine/Source/Runtime/Core/Private/Misc/AssertionMacros.cpp:452]
0x00007fde51fbecd8 libUE4-UnrealArrival.so!FCameraAsyncTask::Tick() [/home/gitlab-runner/UE4/UnrealEngine-4.24.3-release/Engine/Plugins/UnrealArrival/Source/UnrealArrival/Private/Sensors/CameraSensor.cpp:139]
0x00007fde51f877cf libUE4-UnrealArrival.so!FArrivalAsyncTaskManager::Tick() [/home/gitlab-runner/UE4/UnrealEngine-4.24.3-release/Engine/Plugins/UnrealArrival/Source/UnrealArrival/Private/AsyncTaskManager.cpp:75]
0x00007fde51f873b7 libUE4-UnrealArrival.so!FArrivalAsyncTaskManager::Run() [/home/gitlab-runner/UE4/UnrealEngine-4.24.3-release/Engine/Plugins/UnrealArrival/Source/UnrealArrival/Private/AsyncTaskManager.cpp:21]
0x00007fdf505425c7 libUE4-Core.so!FRunnableThreadPThread::Run() [/home/gitlab-runner/UE4/UnrealEngine-4.24.3-release/Engine/Source/Runtime/Core/Private/HAL/PThreadRunnableThread.cpp:25]
0x00007fdf5050e380 libUE4-Core.so!FRunnableThreadPThread::_ThreadProc(void*) [/home/gitlab-runner/UE4/UnrealEngine-4.24.3-release/Engine/Source/Runtime/Core/Private/HAL/PThreadRunnableThread.h:177]
0x00007fdf50ec7609 libpthread.so.0!UnknownFunction(0x9608)
0x00007fdf4c145293 libc.so.6!clone(+0x42)

[2021.11.18-07.51.57:491][460]LogExit: Executing StaticShutdownAfterError
Malloc Size=127198 LargeMemoryPoolOffset=668446 
Engine crash handling finished; re-raising signal 11 for the default handler. Good bye.
Segmentation fault (core dumped)
commented

Vehicle configuration fix

As in this part of the configuration documentation the default car file is in this repo, but must be moved to ArrivalSim-linux-0.7.0.182276/LinuxNoEditor/Engine/Binaries/Linux/l2r_vehicle_conf.yaml. It may be a good idea to add this to instructions.txt.

Simulator crash fix

The instructions state to use the -opengl flag, however the package is deprecated and warns the user upon loading. When we removed this flag so that vulcan was used instead the sim would work for a period of time then crash as above. Keep the -opengl flag.

bluepy build fail

We also found that when using requirements.txt the bluepy package would fail to build wheel. This can be fixed by:

sudo apt-get install python3-pip libglib2.0-dev
sudo pip3 install bluepy