From 304b2ee919890c7f739f7c416828aec5fc06ba73 Mon Sep 17 00:00:00 2001
From: Netrapalli-Madhusudhan Raghunandan
<netrapalli-madhusudhan.raghunandan@partner.bmwgroup.com>
Date: Mon, 7 Apr 2025 08:08:37 +0200
Subject: [PATCH] Run gtgen with common configs
---
.../Common/Scenarios/XOSC/Scenario.xosc | 210 ++++++++++++++++++
.../Common/UserSettings/UserSettings.ini | 39 ++++
utils/ci/Jenkinsfile | 3 +-
utils/ci/scripts/run_gtgen.sh | 38 ++++
4 files changed, 289 insertions(+), 1 deletion(-)
create mode 100644 sim/contrib/examples/Common/Scenarios/XOSC/Scenario.xosc
create mode 100644 sim/contrib/examples/Common/UserSettings/UserSettings.ini
create mode 100755 utils/ci/scripts/run_gtgen.sh
diff --git a/sim/contrib/examples/Common/Scenarios/XOSC/Scenario.xosc b/sim/contrib/examples/Common/Scenarios/XOSC/Scenario.xosc
new file mode 100644
index 000000000..17eea7f30
--- /dev/null
+++ b/sim/contrib/examples/Common/Scenarios/XOSC/Scenario.xosc
@@ -0,0 +1,210 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<OpenSCENARIO>
+ <FileHeader revMajor="1" revMinor="1" date="2020-06-26T00:17:00" description="openPASS default scenario" author="in-tech GmbH"/>
+ <CatalogLocations>
+ <VehicleCatalog>
+ <Directory path="../../Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="../../Vehicles"/>
+ </PedestrianCatalog>
+ <ControllerCatalog>
+ <Directory path=""/>
+ </ControllerCatalog>
+ <ManeuverCatalog>
+ <Directory path=""/>
+ </ManeuverCatalog>
+ <MiscObjectCatalog>
+ <Directory path=""/>
+ </MiscObjectCatalog>
+ <EnvironmentCatalog>
+ <Directory path=""/>
+ </EnvironmentCatalog>
+ <TrajectoryCatalog>
+ <Directory path=""/>
+ </TrajectoryCatalog>
+ <RouteCatalog>
+ <Directory path=""/>
+ </RouteCatalog>
+ </CatalogLocations>
+ <RoadNetwork>
+ <LogicFile filepath="../../SceneryConfiguration.xodr"/>
+ <SceneGraphFile filepath=""/>
+ </RoadNetwork>
+ <Entities>
+ <ScenarioObject name="Ego">
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController name="Ego">
+ <Controller name="libComplexController">
+ <Properties>
+ <Property name="controllerConfig::name" value="Ego"/>
+ <Property name="controllerConfig::parameters::profile" value="MiddleClassCarAgent"/>
+ <Property name="simulator::paths::config" value="/home/jenkins/agent/opSimulation/repo/sim/contrib/examples/Common"/>
+ <Property name="simulator::paths::lib" value="/home/jenkins/agent/opSimulation/gecco/gecco/modules"/>
+ <Property name="entityProperties::bounding_box::dimension::height" value="1.420000"/>
+ <Property name="entityProperties::bounding_box::dimension::length" value="3.800000"/>
+ <Property name="entityProperties::bounding_box::dimension::width" value="1.890000"/>
+ <Property name="entityProperties::bounding_box::geometric_center::x" value="1.350000"/>
+ <Property name="entityProperties::bounding_box::geometric_center::y" value="0.000000"/>
+ <Property name="entityProperties::bounding_box::geometric_center::z" value="0.710000"/>
+ <Property name="entityProperties::classification" value="4"/>
+ <Property name="entityProperties::front_axle::bb_center_to_axle_center::x" value="1.130000"/>
+ <Property name="entityProperties::front_axle::bb_center_to_axle_center::y" value="0.000000"/>
+ <Property name="entityProperties::front_axle::bb_center_to_axle_center::z" value="-0.415000"/>
+ <Property name="entityProperties::front_axle::max_steering" value="0.476600"/>
+ <Property name="entityProperties::front_axle::track_width" value="1.800000"/>
+ <Property name="entityProperties::front_axle::wheel_diameter" value="0.590000"/>
+ <Property name="entityProperties::is_controlled_externally" value="0"/>
+ <Property name="entityProperties::is_host" value="1"/>
+ <Property name="entityProperties::mass" value="1235.000000"/>
+ <Property name="entityProperties::model" value="car_mini_cooper"/>
+ <Property name="entityProperties::performance::max_acceleration" value="9.806650"/>
+ <Property name="entityProperties::performance::max_acceleration_rate" value="inf"/>
+ <Property name="entityProperties::performance::max_deceleration" value="9.806650"/>
+ <Property name="entityProperties::performance::max_deceleration_rate" value="inf"/>
+ <Property name="entityProperties::performance::max_speed" value="58.330000"/>
+ <Property name="entityProperties::properties::AirDragCoefficient" value="0.3"/>
+ <Property name="entityProperties::properties::AxleRatio" value="3.789"/>
+ <Property name="entityProperties::properties::DecelerationFromPowertrainDrag" value="0.5"/>
+ <Property name="entityProperties::properties::FrictionCoefficient" value="1.0"/>
+ <Property name="entityProperties::properties::FrontSurface" value="2.07"/>
+ <Property name="entityProperties::properties::GearRatio1" value="4.154"/>
+ <Property name="entityProperties::properties::GearRatio2" value="2.45"/>
+ <Property name="entityProperties::properties::GearRatio3" value="1.557"/>
+ <Property name="entityProperties::properties::GearRatio4" value="1.09"/>
+ <Property name="entityProperties::properties::GearRatio5" value="0.843"/>
+ <Property name="entityProperties::properties::GearRatio6" value="0.675"/>
+ <Property name="entityProperties::properties::GearRatio7" value="0.547"/>
+ <Property name="entityProperties::properties::MaximumEngineSpeed" value="6000.0"/>
+ <Property name="entityProperties::properties::MaximumEngineTorque" value="220.0"/>
+ <Property name="entityProperties::properties::MinimumEngineSpeed" value="900.0"/>
+ <Property name="entityProperties::properties::MinimumEngineTorque" value="-54.0"/>
+ <Property name="entityProperties::properties::MomentInertiaPitch" value="0.0"/>
+ <Property name="entityProperties::properties::MomentInertiaRoll" value="0.0"/>
+ <Property name="entityProperties::properties::MomentInertiaYaw" value="0.0"/>
+ <Property name="entityProperties::properties::NumberOfGears" value="7"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontCenter/Height" value="0.57"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontCenter/Lateral" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontCenter/Longitudinal" value="3.22"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontCenter/Pitch" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontCenter/Roll" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontCenter/Yaw" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontLeft/Height" value="0.65"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontLeft/Lateral" value="0.65"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontLeft/Longitudinal" value="3.05"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontLeft/Pitch" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontLeft/Roll" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontLeft/Yaw" value="1.134464"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontRight/Height" value="0.65"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontRight/Lateral" value="-0.65"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontRight/Longitudinal" value="3.05"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontRight/Pitch" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontRight/Roll" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontRight/Yaw" value="-1.134464"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontWindow/Height" value="1.28"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontWindow/Lateral" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontWindow/Longitudinal" value="1.83"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontWindow/Pitch" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontWindow/Roll" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/FrontWindow/Yaw" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/RearLeft/Height" value="0.6"/>
+ <Property name="entityProperties::properties::SensorPosition/RearLeft/Lateral" value="0.7"/>
+ <Property name="entityProperties::properties::SensorPosition/RearLeft/Longitudinal" value="-0.35"/>
+ <Property name="entityProperties::properties::SensorPosition/RearLeft/Pitch" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/RearLeft/Roll" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/RearLeft/Yaw" value="2.146755"/>
+ <Property name="entityProperties::properties::SensorPosition/RearRight/Height" value="0.6"/>
+ <Property name="entityProperties::properties::SensorPosition/RearRight/Lateral" value="-0.7"/>
+ <Property name="entityProperties::properties::SensorPosition/RearRight/Longitudinal" value="-0.35"/>
+ <Property name="entityProperties::properties::SensorPosition/RearRight/Pitch" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/RearRight/Roll" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/RearRight/Yaw" value="-2.146755"/>
+ <Property name="entityProperties::properties::SensorPosition/RearWindow/Height" value="1.33"/>
+ <Property name="entityProperties::properties::SensorPosition/RearWindow/Lateral" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/RearWindow/Longitudinal" value="-0.08"/>
+ <Property name="entityProperties::properties::SensorPosition/RearWindow/Pitch" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/RearWindow/Roll" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/RearWindow/Yaw" value="3.141592"/>
+ <Property name="entityProperties::properties::SensorPosition/SideLeft/Height" value="0.26"/>
+ <Property name="entityProperties::properties::SensorPosition/SideLeft/Lateral" value="0.81"/>
+ <Property name="entityProperties::properties::SensorPosition/SideLeft/Longitudinal" value="1.06"/>
+ <Property name="entityProperties::properties::SensorPosition/SideLeft/Pitch" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/SideLeft/Roll" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/SideLeft/Yaw" value="1.570796"/>
+ <Property name="entityProperties::properties::SensorPosition/SideRight/Height" value="0.26"/>
+ <Property name="entityProperties::properties::SensorPosition/SideRight/Lateral" value="-0.81"/>
+ <Property name="entityProperties::properties::SensorPosition/SideRight/Longitudinal" value="1.06"/>
+ <Property name="entityProperties::properties::SensorPosition/SideRight/Pitch" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/SideRight/Roll" value="0.0"/>
+ <Property name="entityProperties::properties::SensorPosition/SideRight/Yaw" value="-1.570796"/>
+ <Property name="entityProperties::properties::SteeringRatio" value="10.7"/>
+ <Property name="entityProperties::rear_axle::bb_center_to_axle_center::x" value="-1.350000"/>
+ <Property name="entityProperties::rear_axle::bb_center_to_axle_center::y" value="0.000000"/>
+ <Property name="entityProperties::rear_axle::bb_center_to_axle_center::z" value="-0.415000"/>
+ <Property name="entityProperties::rear_axle::max_steering" value="0.000000"/>
+ <Property name="entityProperties::rear_axle::track_width" value="1.800000"/>
+ <Property name="entityProperties::rear_axle::wheel_diameter" value="0.590000"/>
+ <Property name="entityProperties::type" value="2"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
+ </ScenarioObject>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ <Private entityRef="Ego">
+ <PrivateAction>
+ <TeleportAction>
+ <Position>
+ <LanePosition roadId="1" laneId="-1" offset="0.0" s="0.0">
+ <Orientation type="relative"/>
+ </LanePosition>
+ </Position>
+ </TeleportAction>
+ </PrivateAction>
+ <PrivateAction>
+ <LongitudinalAction>
+ <SpeedAction>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionTarget>
+ <AbsoluteTargetSpeed value="43.5"/>
+ </SpeedActionTarget>
+ </SpeedAction>
+ </LongitudinalAction>
+ </PrivateAction>
+ <PrivateAction>
+ <ControllerAction>
+ <ActivateControllerAction objectControllerRef="Ego" lateral="true" longitudinal="true" />
+ </ControllerAction>
+ </PrivateAction>
+ </Private>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1">
+ <Actors selectTriggeringEntities="false"/>
+ </ManeuverGroup>
+ <StartTrigger>
+ <ConditionGroup>
+ <Condition name="StartTime" delay="0" conditionEdge="rising">
+ <ByValueCondition>
+ <SimulationTimeCondition value="0.0" rule="greaterOrEqual"/>
+ </ByValueCondition>
+ </Condition>
+ </ConditionGroup>
+ </StartTrigger>
+ </Act>
+ </Story>
+ <StopTrigger>
+ <ConditionGroup>
+ <Condition name="EndTime" delay="0" conditionEdge="rising">
+ <ByValueCondition>
+ <SimulationTimeCondition value="30.0" rule="greaterThan"/>
+ </ByValueCondition>
+ </Condition>
+ </ConditionGroup>
+ </StopTrigger>
+ </Storyboard>
+</OpenSCENARIO>
diff --git a/sim/contrib/examples/Common/UserSettings/UserSettings.ini b/sim/contrib/examples/Common/UserSettings/UserSettings.ini
new file mode 100644
index 000000000..fe04e9405
--- /dev/null
+++ b/sim/contrib/examples/Common/UserSettings/UserSettings.ini
@@ -0,0 +1,39 @@
+# Version : 0.0.1
+# Documentation : see GT-Gen Core project from https://gitlab.eclipse.org/eclipse/openpass
+
+[FileLogging]
+LogLevel = Debug
+
+[GroundTruth]
+LaneMarkingDistance = 0.4
+SimplifyLaneMarkingsEpsilon = 0.01
+SimplifyLaneMarkings = true
+AllowInvalidLaneLocations = true
+
+[HostVehicle]
+Movement = InternalVehicle
+BlockingCommunication = false
+TimeScale = 1
+RecoveryMode = false
+
+[Map]
+IncludeObstacles = false
+
+[MapChunking]
+ChunkGridSize = 50
+CellsPerDirection = 2
+
+[UserDirectories]
+Scenarios =
+Maps =
+Plugins = {/home/jenkins/agent/opSimulation/gecco/gecco/modules}
+
+[SimulationResults]
+LogCyclics = true
+OutputDirectoryPath = /home/jenkins/agent/opSimulation/artifacts/config_output
+
+[Clock]
+UseSystemClock = false
+
+[Foxglove]
+WebsocketServer = false
diff --git a/utils/ci/Jenkinsfile b/utils/ci/Jenkinsfile
index fff5f5967..75571c6bc 100644
--- a/utils/ci/Jenkinsfile
+++ b/utils/ci/Jenkinsfile
@@ -14,7 +14,7 @@ pipeline {
parameters {
booleanParam(name: 'BUILD_DOCKER_IMAGE', defaultValue: false, description: 'Force docker image (re-)build')
string(name: 'OPTESTRUNNER_URL', defaultValue: 'https://download.eclipse.org/openpass/snapshots/opTestrunner/pytest_optestrunner-1.1-py3-none-any.whl', description: 'URL to download opTestrunner binaries')
- string(name: 'GECCO_URL', defaultValue: 'https://ci.eclipse.org/openpass/job/gecco/view/change-requests/job/MR-3/lastSuccessfulBuild/artifact/artifacts/gecco.tar.gz', description: 'URL to download gecco binaries')
+ string(name: 'GECCO_URL', defaultValue: 'https://ci.eclipse.org/openpass/job/gecco/view/change-requests/job/MR-3/6/artifact/artifacts/gecco.tar.gz', description: 'URL to download gecco binaries')
string(name: 'GTGEN_CLI_URL', defaultValue: 'https://ci.eclipse.org/openpass/job/GT-Gen-Simulator-PreMerge-Gate/view/tags/job/v11.3.0/lastSuccessfulBuild/artifact/artifacts/gtgen-cli_1.1.0_amd64.deb', description: 'URL to download gtgen cli binaries')
string(name: 'GTGEN_SIM_URL', defaultValue: 'https://ci.eclipse.org/openpass/job/GT-Gen-Simulator-PreMerge-Gate/view/tags/job/v11.3.0/lastSuccessfulBuild/artifact/artifacts/gtgen-simulator_11.3.0_amd64.deb', description: 'URL to download gtgen simulator binaries')
}
@@ -117,6 +117,7 @@ spec:
stage('Linux: Run E2E') {
steps {
container('openpass-build') {
+ sh 'bash repo/utils/ci/scripts/run_gtgen.sh'
sh 'bash repo/utils/ci/scripts/55_endtoend.sh'
}
}
diff --git a/utils/ci/scripts/run_gtgen.sh b/utils/ci/scripts/run_gtgen.sh
new file mode 100755
index 000000000..f859309bf
--- /dev/null
+++ b/utils/ci/scripts/run_gtgen.sh
@@ -0,0 +1,38 @@
+#!/bin/bash
+
+################################################################################
+# Copyright (c) 2025 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0
+################################################################################
+
+################################################################################
+# This Script runs gtgen with common configs
+################################################################################
+
+if [[ "$(uname)" != "Linux" ]]; then
+ echo "Skipping E2E tests on non-Linux platform"
+ exit 0
+fi
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+OP_REPO_DIR="${OP_REPO_DIR:=$SCRIPT_DIR/../../..}"
+
+if [[ -z "${GECCO_DIR}" ]]; then
+ # If not defined, set a default value
+ GTGEN_DIR="$SCRIPT_DIR/../../../../gtgen_cli"
+ GECCO_DIR="$SCRIPT_DIR/../../../../gecco"
+ echo "WARN: GECCO_DIR variable is not set. Setting it to:
+ GECCO_DIR is ${GECCO_DIR}"
+fi
+
+mkdir -p "$SCRIPT_DIR/../../../../artifacts" || exit 1
+mkdir -p "$SCRIPT_DIR"/../../../../artifacts/config_output || exit 1
+
+GTGEN_CLI_PATH="$GTGEN_DIR"
+CONFIGS_PATH="$OP_REPO_DIR/sim/contrib/examples/Common"
+
+"${GTGEN_CLI_PATH}/gtgen_cli" -t 100 -s Scenario.xosc -d "${CONFIGS_PATH}" || exit 1;
\ No newline at end of file
--
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