How to setup scenario runner

Scenario Runner Github: https://github.com/carla-simulator/scenario_runner

1 Preparation

1.1 Create a new environment

Install the scenario runner matching you CARLA version: Ex; Release version 0.9.12: matching CARLA version 0.9.12:https://github.com/carla-simulator/scenario_runner/releases Open a virtual environment of python 3.7~/anaconda3:

$conda create --name scrun python=3.7

$conda activate scrun

$cd ~/path_to_scenario_runner

$pip install -r requirements.txt

1.2 Set path

  • Path Setting: # %CARLA_ROOT% is the CARLA installation directory

  • %SCENARIO_RUNNER% is the ScenarioRunner installation directory

  • is the correct string for the Python version being used
    • In a build from source, the .egg files may be in: ${CARLA_ROOT}/PythonAPI/dist/ instead of ${CARLA_ROOT}/PythonAPI
set CARLA_ROOT=\path\to\your\carla\installationset SCENARIO_RUNNER_ROOT=\path\to\your\scenario\runner\installationset PYTHONPATH=%PYTHONPATH%;%CARLA_ROOT%\PythonAPI\carla\dist\carla-<VERSION>.eggset PYTHONPATH=%PYTHONPATH%;%CARLA_ROOT%\PythonAPI\carla

Example: in the windows you used, input the following:

export CARLA_ROOT=/home/user10/Downloads/CARLA_0.9.12	
export SCENARIO_RUNNER_ROOT=/home/user10/Downloads/CARLA_0.9.12/scenario_runner
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.12-py3.7-linux-x86_64.egg (This name can be find on CARLA_0.9.12/PythonAPI/carla/dist)
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI

Optional:

  • Save it on bashrc so that you never need to do step 2 again
  • ~/anaconda3$gedit ~/.bashrc
  • Paste the modified Example in step 2 on the end of the file
  • Make an alias to quickly access the folder of scenario_runner by
  • $open .~/anaconda3
  • $gedit ~/.bashrcPaste the following on the end of the file:if [ -f ~/.bash_aliases ]; then. ~/.bash_aliasesfi

How to run

Starting using scenario runner (all need to cd to your scenario_runner folder and then use the previous virtual environment by $conda activate scrun first):

Open one terminal for loading the scenario:

python scenario_runner.py --scenario FollowLeadingVehicle_1 --reloadWorld

Open another terminal for manual control:

pip install pygame # (need to do this for the first time)		
python manual_control.py

To see the full list of scenario:

python scenario_runner.py --list