Releases: tier4/scenario_simulator_v2
15.1.1
Description
Abstract
To run openscenario_utility correctly, use xmlschema 3.4.5.
Background
With xmlschema >= 4.0.0, the errors like below are occured.
https://github.com/tier4/scenario_simulator_v2/actions/runs/14435381683/job/40475549963#step:16:2278
[scenario_test_runner.py-1] Error: failed validating '1' with XsdPatternFacets(['[$][{][ A-Za-z0-9_\+\-\*/%$\(\)\.,]*[\}]']):
[scenario_test_runner.py-1]
[scenario_test_runner.py-1] Reason: value doesn't match any pattern of ['[$][{][ A-Za-z0-9_\+\-\*/%$\(\)\.,]*[\}]']
[scenario_test_runner.py-1]
[scenario_test_runner.py-1] Schema component:
[scenario_test_runner.py-1]
[scenario_test_runner.py-1] <xsd:pattern xmlns:xsd="http://www.w3.org/2001/XMLSchema" value="[$][{][ A-Za-z0-9_\+\-\*/%$\(\)\.,]*[\}]" />
[scenario_test_runner.py-1]
[scenario_test_runner.py-1] Instance type: <class 'xml.etree.ElementTree.Element'>
[scenario_test_runner.py-1]
[scenario_test_runner.py-1] Instance:
[scenario_test_runner.py-1]
[scenario_test_runner.py-1] <FileHeader description="Scenario where test collision conditions by type" author="abco20" date="2024-10-17T05:57:14.376Z" revMajor="1" revMinor="0" />
[scenario_test_runner.py-1]
[scenario_test_runner.py-1] Path: /OpenSCENARIO/FileHeader
[scenario_test_runner.py-1] References
Destructive Changes
None
Known Limitations
This is a just fix for build CI only.
And this doesn't fix errors on Autoware Evaluator, any local environment.
Related Issues
15.1.0
Description
Abstract
Add override_parameters argument to scenario_test_runner to override ParameterDeclaration in scenarios.
Background
Parameter overriding is performed inside internal web service.
This pull-request provides same functionalities and support local execution of the web service.
Details
service
openscenario_preprocessor_msgs/srv/SetParameter.srv
string name
string value
---
service path: /simulation/openscenario_preprocessor/set_parameter
the service server is hosted by openscenario_preprocessor and used by scenario_test_runner.
override_parameters argument specification
usage
You can specify JSON formatted string to override_parameters argument
ros2 launch scenario_test_runner scenario_test_runner.launch.py override_parameters:='{"offset": 1.2, "max_vel": 8.88}' behavior
The specified parameters by override_parameters argument will override ParameterDeclaration values.
If there is no ParameterDeclaration that matches to specified parameters exists, it will simply be ignored.
Note
The target of override_parameters is ParameterDeclaration.
Please note that ScenarioModifier, which directly overrides identifiers in the scenario without going through the value of ParameterDeclaration, will not be overwritten. (e.g. LANE_ID in sample.yaml )
output files
$ tree /tmp/scenario_test_runner
.
├── execution_timer.json
├── result.junit.xml
└── sample
├── raw
│ ├── sample_0.xosc
│ ├── sample_1.xosc
│ └── sample_2.xosc
├── sample_0
│ ├── metadata.yaml
│ └── sample_0_0.mcap
├── sample_0.xosc
├── sample_1
│ ├── metadata.yaml
│ └── sample_1_0.mcap
├── sample_1.xosc
├── sample_2
│ ├── metadata.yaml
│ └── sample_2_0.mcap
└── sample_2.xosc
References
Destructive Changes
None
Known Limitations
As I mentioned, ScenarioModifier, which directly overrides identifiers in the scenario without going through the value of ParameterDeclaration, will not be overwritten. (e.g. LANE_ID in sample.yaml )
Related Issues
15.0.7
Description
Abstract
Fix scenario name of the scenarios.
Background
Some scenarios written in C++ did not follow naming conventions
Details
Fix scenario name of the scenarios.
References
N/A
Destructive Changes
N/A
Known Limitations
N/A
Related Issues
15.0.6
Description
Abstract
To avoid cmake error related to tinyxml2_vendor, this workaround is introduced.
This workaround is not elegant and is temporary.
If better solution is found, this workaround is withdrew and replaced.
Background
https://github.com/tier4/scenario_simulator_v2/actions/workflows/BuildAndRun.yaml
All of BuildAndRun executions are failed from April 7th due to the CMake errors like below.
Starting >>> random_test_runner
--- stderr: random_test_runner
CMake Error at /opt/ros/humble/share/tinyxml2_vendor/cmake/tinyxml2_vendor-extras.cmake:23 (message):
Unable to extract the library file path from
Call Stack (most recent call first):
/opt/ros/humble/share/tinyxml2_vendor/cmake/tinyxml2_vendorConfig.cmake:41 (include)
/__w/scenario_simulator_v2/scenario_simulator_v2/install/traffic_simulator/share/traffic_simulator/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
/__w/scenario_simulator_v2/scenario_simulator_v2/install/traffic_simulator/share/traffic_simulator/cmake/traffic_simulatorConfig.cmake:41 (include)
/opt/ros/humble/share/ament_cmake_auto/cmake/ament_auto_find_build_dependencies.cmake:67 (find_package)
CMakeLists.txt:38 (ament_auto_find_build_dependencies)
---
Failed <<< random_test_runner [4.80s, exited with code 1]References
Same workaround was introduced in autoware ( this pull-request was affected by the pull-request )
autowarefoundation/autoware_cmake#24
Continuous discussions are here for this issue. I'll be keeping an my eye on this issue.
autowarefoundation/autoware_universe#10410
Destructive Changes
None
Known Limitations
As I said, it's a temporary fix and not perfect.
Related Issues
15.0.5
Description
Fix the bug as autowarefoundation/autoware_universe#10386
Abstract
The TurnIndicatorsReport msg has not TurnIndicatorsCommand::NO_COMMAND(0), but has only TurnIndicatorsReport::DISABLE(1). The simple_planning_simulator didn't convert this message properly.
This PR fixed it.
Background
None
Details
None
References
PR for simple_planning_simulator: autowarefoundation/autoware_universe#10386
Destructive Changes
None
Known Limitations
I'm not sure if this bug fix affects other parts of scenario_simulator_v2. If there is a need to change other parts, please let me know.
Related Issues
15.0.4
15.0.3
Description
Abstract
This PR removes the subscription to a topic of type tier4_planning_msgs::msg::Trajectory.
Background
This subscription was present in the code since the beginning of scenario simulator. However, it is not a part of Autoware API, so ideally it should not be used.
Details
The subscription was only used to draw markers in RViz using EgoEntity::getWaypoints overload.
Although, since the Autoware trajectory is already being drawn in another part of RViz configuration, the additional visualization performed by scenario simulator is not necessary.
It was concluded, that the trajectory subscription can be safely removed, as well as the FieldOperatorApplication::getWaypoints member function.
To account for the deletion, the EgoEntity::getWaypoints member function was modified to return an empty waypoints array. An appropriate comment has been added.
This way, the visualization component will not draw any markers for EgoEntity's trajectory.
Comparison before and after the subscription removal
| Trajectory drawn for Ego by scenario simulator's visualization component | Trajectory drawn for Ego directly by the RViz trajectory plugin (after the subscription removal) |
|---|---|
 |
 |
References
Destructive Changes
None
Known Limitations
The new implementation of EgoEntity::getWaypoints always returns an empty array. This is fine for visualization, but if this member function was ever used for something different, it should be noted that EgoEntity's overload of EntityBase::getWaypoints does not work the same as for other non-stationary entity types.
It is not possible to obtain the actual trajectory waypoints of Autoware.
Related Issues
15.0.2
Bumps jinja2 from 3.1.5 to 3.1.6.
Release notes
Sourced from jinja2's releases.
3.1.6
This is the Jinja 3.1.6 security release, which fixes security issues but does not otherwise change behavior and should not result in breaking changes compared to the latest feature release.
PyPI: https://pypi.org/project/Jinja2/3.1.6/ Changes: https://jinja.palletsprojects.com/en/stable/changes/#version-3-1-6
- The
|attrfilter does not bypass the environment's attribute lookup, allowing the sandbox to apply its checks. GHSA-cpwx-vrp4-4pq7
Changelog
Sourced from jinja2's changelog.
Version 3.1.6
Released 2025-03-05
- The
|attrfilter does not bypass the environment's attribute lookup, allowing the sandbox to apply its checks. :ghsa:cpwx-vrp4-4pq7
Commits
1520688release version 3.1.690457bbMerge commit from fork065334dattr filter uses env.getattr033c200start version 3.1.6bc68d4euse global contributing guide (#2070)247de5euse global contributing guideab8218cuse project advisory link instead of globalb4ffc8frelease version 3.1.5 (#2066)- See full diff in compare view
Dependabot will resolve any conflicts with this PR as long as you don't alter it yourself. You can also trigger a rebase manually by commenting @dependabot rebase.
Dependabot commands and options
You can trigger Dependabot actions by commenting on this PR:
@dependabot rebasewill rebase this PR@dependabot recreatewill recreate this PR, overwriting any edits that have been made to it@dependabot mergewill merge this PR after your CI passes on it@dependabot squash and mergewill squash and merge this PR after your CI passes on it@dependabot cancel mergewill cancel a previously requested merge and block automerging@dependabot reopenwill reopen this PR if it is closed@dependabot closewill close this PR and stop Dependabot recreating it. You can achieve the same result by closing it manually@dependabot show <dependency name> ignore conditionswill show all of the ignore conditions of the specified dependency@dependabot ignore this major versionwill close this PR and stop Dependabot creating any more for this major version (unless you reopen the PR or upgrade to it yourself)@dependabot ignore this minor versionwill close this PR and stop Dependabot creating any more for this minor version (unless you reopen the PR or upgrade to it yourself)@dependabot ignore this dependencywill close this PR and stop Dependabot creating any more for this dependency (unless you reopen the PR or upgrade to it yourself)
You can disable automated security fix PRs for this repo from the Security Alerts page.
Related Issues
15.0.1
Abstract
This PR adds a test to remotely run build tests for context_gamma_planner.
Background
It serves as a CI to check that there are no breaking changes in SSv2, a privately maintained dependency of context_gamma_planner.
Details
When this CI is triggered, the hash of the triggering source (e.g., a commit pushed to a PR or to the master branch) is sent and used for building and testing together.
References
- https://github.com/tier4/context_gamma_planner/blob/master/.github/workflows/dispatch-build.yml
- tier4/context_gamma_planner#106
- https://github.com/tier4/context_gamma_planner/actions/runs/14074333158
Destructive Changes
N/A
Known Limitations
N/A
Related Issues
15.0.0
Description
Abstract
This is the partial PR of the HdMapUtils refactor (PR 2/6) ( #1478 )
Details
Replace usage of HdMapUtils::getLateralDistance with non-member function lanelet_wrapper::distance::lateralDistance
References
Destructive Changes
The hdmap_utils_ptr parameter has been removed from the following functions:
traffic_simulator::distance::lateralDistancetraffic_simulator::distance::boundingBoxLaneLateralDistance
For the rationale behind this change, see #1478.
Migration Guide
Before (Old Signature)
auto lateralDistance(
const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to,
const traffic_simulator::RoutingConfiguration & routing_configuration,
const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> std::optional<double>;
auto lateralDistance(
const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to,
double matching_distance, const traffic_simulator::RoutingConfiguration & routing_configuration,
const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> std::optional<double>;
auto boundingBoxLaneLateralDistance(
const CanonicalizedLaneletPose & from,
const traffic_simulator_msgs::msg::BoundingBox & from_bounding_box,
const CanonicalizedLaneletPose & to,
const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box,
const traffic_simulator::RoutingConfiguration & routing_configuration,
const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> std::optional<double>;
After (New Signature)
auto lateralDistance(
const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to,
const traffic_simulator::RoutingConfiguration & routing_configuration,
const RoutingConfiguration & routing_configuration) -> std::optional<double>;
auto lateralDistance(
const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to,
const double matching_distance, const RoutingConfiguration & routing_configuration)
-> std::optional<double>;
auto boundingBoxLaneLateralDistance(
const CanonicalizedLaneletPose & from,
const traffic_simulator_msgs::msg::BoundingBox & from_bounding_box,
const CanonicalizedLaneletPose & to,
const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box,
const RoutingConfiguration & routing_configuration) -> std::optional<double>;
const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr parameter has been removed.
Remove the hdmap_utils_ptr argument from call to lateralDistance and boundingBoxLaneLateralDistance.
Known Limitations
None.