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glopezdiestglopezdiest
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Update to CARLA 0.9.12
* Added compatibility with CARLA 0.9.12
1 parent 9861385 commit 0832793

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-165
lines changed

‎CARLA_VER

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,2 +1,2 @@
11
HOST = https://carla-releases.s3.eu-west-3.amazonaws.com/Linux
2-
RELEASE=CARLA_0.9.10
2+
RELEASE=CARLA_0.9.12

‎Docs/CHANGELOG.md

Lines changed: 4 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,6 @@
11
## Table of Contents
22
* [Latest Changes](#latest-changes)
3+
* [CARLA ScenarioRunner 0.9.12](#carla-scenariorunner-0912)
34
* [CARLA ScenarioRunner 0.9.11](#carla-scenariorunner-0911)
45
* [CARLA ScenarioRunner 0.9.10](#carla-scenariorunner-0910)
56
* [CARLA ScenarioRunner 0.9.9](#carla-scenariorunner-099)
@@ -10,7 +11,9 @@
1011
* [CARLA ScenarioRunner 0.9.5](#carla-scenariorunner-095)
1112
* [CARLA ScenarioRunner 0.9.2](#carla-scenariorunner-092)
1213

13-
## Latest Changes
14+
## Latest changes
15+
16+
## CARLA ScenarioRunner 0.9.12
1417
### :rocket: New Features
1518
* OpenSCENARIO support:
1619
- Added support for LongitudinalDistanceAction

‎Docs/creating_new_scenario.md

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -88,7 +88,7 @@ If you want to add multiple ego vehicles for a scenario, make sure that they use
8888
role names, e.g.
8989
```
9090
<scenario name="MultiEgoTown03" type="FreeRide" town="Town03">
91-
<ego_vehicle x="207" y="59" z="0" yaw="180" model="vehicle.lincoln.mkz2017" rolename="hero"/>
91+
<ego_vehicle x="207" y="59" z="0" yaw="180" model="vehicle.lincoln.mkz_2017" rolename="hero"/>
9292
<ego_vehicle x="237" y="-95.0754252474" z="0" yaw="90" model="vehicle.tesla.model3" rolename="hero2"/>
9393
</scenario>
9494
```

‎README.md

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -21,6 +21,7 @@ branch contains the latest fixes and features, and may be required to use the la
2121

2222
It is important to also consider the release version that has to match the CARLA version.
2323

24+
* [Version 0.9.12](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.12) and the 0.9.12 Branch: Compatible with [CARLA 0.9.12](https://github.com/carla-simulator/carla/releases/tag/0.9.12)
2425
* [Version 0.9.11](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.11) and the 0.9.11 Branch: Compatible with [CARLA 0.9.11](https://github.com/carla-simulator/carla/releases/tag/0.9.11)
2526
* [Version 0.9.10](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.10) and the 0.9.10 Branch: Compatible with [CARLA 0.9.10](https://github.com/carla-simulator/carla/releases/tag/0.9.10)
2627
* [Version 0.9.9](https://github.com/carla-simulator/scenario_runner/releases/tag/v0.9.9) and the 0.9.9 Branch: Compatible with [CARLA 0.9.9](https://github.com/carla-simulator/carla/releases/tag/0.9.9). Use the 0.9.9 branch, if you use CARLA 0.9.9.4.

‎manual_control.py

Lines changed: 25 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -119,6 +119,11 @@ def restart(self):
119119
actor_type = get_actor_display_name(self.player)
120120
self.hud.notification(actor_type)
121121

122+
if self.sync:
123+
self.world.tick()
124+
else:
125+
self.world.wait_for_tick()
126+
122127
def tick(self, clock):
123128
if len(self.world.get_actors().filter(self.player_name)) < 1:
124129
return False
@@ -150,7 +155,7 @@ def game_loop(args):
150155
clock = pygame.time.Clock()
151156
while True:
152157
clock.tick_busy_loop(60)
153-
if controller.parse_events(client, world, clock):
158+
if controller.parse_events(client, world, clock, args.sync):
154159
return
155160
if not world.tick(clock):
156161
return
@@ -204,6 +209,25 @@ def main():
204209
metavar='WIDTHxHEIGHT',
205210
default='1280x720',
206211
help='window resolution (default: 1280x720)')
212+
argparser.add_argument(
213+
'--generation',
214+
metavar='G',
215+
default='2',
216+
help='restrict to certain actor generation (values: "1","2","All" - default: "2")')
217+
argparser.add_argument(
218+
'--gamma',
219+
default=2.2,
220+
type=float,
221+
help='Gamma correction of the camera (default: 2.2)')
222+
argparser.add_argument(
223+
'-s', '--seed',
224+
help='Set seed for repeating executions (default: None)',
225+
default=None,
226+
type=int)
227+
argparser.add_argument(
228+
'--sync',
229+
action='store_true',
230+
help='Activate synchronous mode execution')
207231
argparser.add_argument(
208232
'--rolename',
209233
metavar='NAME',
@@ -216,7 +240,6 @@ def main():
216240
args = argparser.parse_args()
217241

218242
args.filter = "vehicle.*" # Needed for CARLA version
219-
args.gamma = 2.2 # Needed for CARLA version
220243
args.width, args.height = [int(x) for x in args.res.split('x')]
221244

222245
log_level = logging.DEBUG if args.debug else logging.INFO

‎no_rendering_mode.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -954,7 +954,7 @@ def update_hud_info(self, clock):
954954
'Server: % 16s FPS' % self.server_fps,
955955
'Client: % 16s FPS' % round(clock.get_fps()),
956956
'Simulation Time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)),
957-
'Map Name: %10s' % self.town_map.name,
957+
'Map Name: %10s' % self.town_map.name.split('/')[-1],
958958
]
959959

960960
module_info_text = module_info_text

‎scenario_runner.py

Lines changed: 8 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -41,7 +41,7 @@
4141
from srunner.tools.route_parser import RouteParser
4242

4343
# Version of scenario_runner
44-
VERSION = '0.9.11'
44+
VERSION = '0.9.12'
4545

4646

4747
class ScenarioRunner(object):
@@ -89,11 +89,10 @@ def __init__(self, args):
8989
# requests in the localhost at port 2000.
9090
self.client = carla.Client(args.host, int(args.port))
9191
self.client.set_timeout(self.client_timeout)
92-
CarlaDataProvider.set_client(self.client)
9392

9493
dist = pkg_resources.get_distribution("carla")
95-
if LooseVersion(dist.version) < LooseVersion('0.9.11'):
96-
raise ImportError("CARLA version 0.9.11 or newer required. CARLA version found: {}".format(dist))
94+
if LooseVersion(dist.version) < LooseVersion('0.9.12'):
95+
raise ImportError("CARLA version 0.9.12 or newer required. CARLA version found: {}".format(dist))
9796

9897
# Load agent if requested via command line args
9998
# If something goes wrong an exception will be thrown by importlib (ok here)
@@ -330,6 +329,8 @@ def _load_and_wait_for_world(self, town, ego_vehicles=None):
330329
settings.synchronous_mode = True
331330
settings.fixed_delta_seconds = 1.0 / self.frame_rate
332331
self.world.apply_settings(settings)
332+
333+
CarlaDataProvider.set_client(self.client)
333334
CarlaDataProvider.set_world(self.world)
334335

335336
# Wait for the world to be ready
@@ -338,8 +339,9 @@ def _load_and_wait_for_world(self, town, ego_vehicles=None):
338339
else:
339340
self.world.wait_for_tick()
340341

341-
if CarlaDataProvider.get_map().name != town and CarlaDataProvider.get_map().name != "OpenDriveMap":
342-
print("The CARLA server uses the wrong map: {}".format(CarlaDataProvider.get_map().name))
342+
map_name = CarlaDataProvider.get_map().name.split('/')[-1]
343+
if map_name not in (town, "OpenDriveMap"):
344+
print("The CARLA server uses the wrong map: {}".format(map_name))
343345
print("This scenario requires to use map: {}".format(town))
344346
return False
345347

‎srunner/examples/ChangeLane.xml

Lines changed: 2 additions & 2 deletions
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@@ -1,13 +1,13 @@
11
<?xml version="1.0"?>
22
<scenarios>
33
<scenario name="ChangeLane_1" type="ChangeLane" town="Town04">
4-
<ego_vehicle x="284.4" y="16.4" z="2.5" yaw="-173" model="vehicle.lincoln.mkz2017" />
4+
<ego_vehicle x="284.4" y="16.4" z="2.5" yaw="-173" model="vehicle.lincoln.mkz_2017" />
55
<!-- spawn actors-->
66
<other_actor x="264.4" y="16.3" z="-500" yaw="-179" model="vehicle.tesla.model3" />
77
<other_actor x="184.4" y="14.9" z="-500" yaw="-176" model="vehicle.volkswagen.t2" />
88
<weather cloudiness="0" precipitation="0" precipitation_deposits="0" wind_intensity="0" sun_azimuth_angle="0" sun_altitude_angle="75" />
99
</scenario>
1010
<scenario name="ChangeLane_2" type="ChangeLane" town="Town01">
11-
<ego_vehicle x="107" y="133.5" z="0.5" yaw="0" model="vehicle.lincoln.mkz2017" />
11+
<ego_vehicle x="107" y="133.5" z="0.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
1212
</scenario>
1313
</scenarios>

‎srunner/examples/ChangingWeather.xosc

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Original file line numberDiff line numberDiff line change
@@ -9,7 +9,7 @@
99
</RoadNetwork>
1010
<Entities>
1111
<ScenarioObject name="hero">
12-
<Vehicle name="vehicle.lincoln.mkz2017" vehicleCategory="car">
12+
<Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
1313
<ParameterDeclarations/>
1414
<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
1515
<BoundingBox>

‎srunner/examples/ControlLoss.xml

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Original file line numberDiff line numberDiff line change
@@ -1,48 +1,48 @@
11
<?xml version="1.0"?>
22
<scenarios>
33
<scenario name="ControlLoss_1" type="ControlLoss" town="Town01">
4-
<ego_vehicle x="392.5" y="195" z="0.5" yaw="90" model="vehicle.lincoln.mkz2017" />
4+
<ego_vehicle x="392.5" y="195" z="0.5" yaw="90" model="vehicle.lincoln.mkz_2017" />
55
</scenario>
66
<scenario name="ControlLoss_2" type="ControlLoss" town="Town01">
7-
<ego_vehicle x="-2.0" y="160" z="0.5" yaw="90" model="vehicle.lincoln.mkz2017" />
7+
<ego_vehicle x="-2.0" y="160" z="0.5" yaw="90" model="vehicle.lincoln.mkz_2017" />
88
</scenario>
99
<scenario name="ControlLoss_3" type="ControlLoss" town="Town01">
10-
<ego_vehicle x="168.9" y="59.8" z="0.5" yaw="0" model="vehicle.lincoln.mkz2017" />
10+
<ego_vehicle x="168.9" y="59.8" z="0.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
1111
</scenario>
1212
<scenario name="ControlLoss_4" type="ControlLoss" town="Town02">
13-
<ego_vehicle x="27" y="110" z="0.22" yaw="0" model="vehicle.lincoln.mkz2017" />
13+
<ego_vehicle x="27" y="110" z="0.22" yaw="0" model="vehicle.lincoln.mkz_2017" />
1414
</scenario>
1515
<scenario name="ControlLoss_5" type="ControlLoss" town="Town02">
16-
<ego_vehicle x="54.8" y="307.2" z="0.22" yaw="0" model="vehicle.lincoln.mkz2017" />
16+
<ego_vehicle x="54.8" y="307.2" z="0.22" yaw="0" model="vehicle.lincoln.mkz_2017" />
1717
</scenario>
1818
<scenario name="ControlLoss_6" type="ControlLoss" town="Town02">
19-
<ego_vehicle x="57.4" y="191.7" z="0.5" yaw="0" model="vehicle.lincoln.mkz2017" />
19+
<ego_vehicle x="57.4" y="191.7" z="0.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
2020
</scenario>
2121
<scenario name="ControlLoss_7" type="ControlLoss" town="Town03">
22-
<ego_vehicle x="15" y="207.5" z="2" yaw="0" model="vehicle.lincoln.mkz2017" />
22+
<ego_vehicle x="15" y="207.5" z="2" yaw="0" model="vehicle.lincoln.mkz_2017" />
2323
</scenario>
2424
<scenario name="ControlLoss_8" type="ControlLoss" town="Town03">
25-
<ego_vehicle x="-74" y="-12" z="0.1" yaw="270" model="vehicle.lincoln.mkz2017" />
25+
<ego_vehicle x="-74" y="-12" z="0.1" yaw="270" model="vehicle.lincoln.mkz_2017" />
2626
</scenario>
2727
<scenario name="ControlLoss_9" type="ControlLoss" town="Town03">
28-
<ego_vehicle x="-85.1" y="-87.4" z="0.3" yaw="89" model="vehicle.lincoln.mkz2017" />
28+
<ego_vehicle x="-85.1" y="-87.4" z="0.3" yaw="89" model="vehicle.lincoln.mkz_2017" />
2929
</scenario>
3030
<scenario name="ControlLoss_10" type="ControlLoss" town="Town04">
31-
<ego_vehicle x="218.4" y="193" z="0" yaw="338" model="vehicle.lincoln.mkz2017" />
31+
<ego_vehicle x="218.4" y="193" z="0" yaw="338" model="vehicle.lincoln.mkz_2017" />
3232
</scenario>
3333
<scenario name="ControlLoss_11" type="ControlLoss" town="Town04">
34-
<ego_vehicle x="-40.4" y="-229.5" z="0" yaw="131" model="vehicle.lincoln.mkz2017" />
34+
<ego_vehicle x="-40.4" y="-229.5" z="0" yaw="131" model="vehicle.lincoln.mkz_2017" />
3535
</scenario>
3636
<scenario name="ControlLoss_12" type="ControlLoss" town="Town04">
37-
<ego_vehicle x="-45" y="37.2" z="11" yaw="0" model="vehicle.lincoln.mkz2017" />
37+
<ego_vehicle x="-45" y="37.2" z="11" yaw="0" model="vehicle.lincoln.mkz_2017" />
3838
</scenario>
3939
<scenario name="ControlLoss_13" type="ControlLoss" town="Town05">
40-
<ego_vehicle x="90.9" y="-66" z="0" yaw="67" model="vehicle.lincoln.mkz2017" />
40+
<ego_vehicle x="90.9" y="-66" z="0" yaw="67" model="vehicle.lincoln.mkz_2017" />
4141
</scenario>
4242
<scenario name="ControlLoss_14" type="ControlLoss" town="Town05">
43-
<ego_vehicle x="-54.7" y="110.9" z="0.1" yaw="90" model="vehicle.lincoln.mkz2017" />
43+
<ego_vehicle x="-54.7" y="110.9" z="0.1" yaw="90" model="vehicle.lincoln.mkz_2017" />
4444
</scenario>
4545
<scenario name="ControlLoss_15" type="ControlLoss" town="Town05">
46-
<ego_vehicle x="119.1" y="-142.7" z="0.1" yaw="-170" model="vehicle.lincoln.mkz2017" />
46+
<ego_vehicle x="119.1" y="-142.7" z="0.1" yaw="-170" model="vehicle.lincoln.mkz_2017" />
4747
</scenario>
4848
</scenarios>

‎srunner/examples/CutIn.xml

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -2,12 +2,12 @@
22
<scenarios>
33
<!-- scenario name MUST contain 'left' or 'right', defines whether car comes from left or right lane-->
44
<scenario name="CutInFrom_left_Lane" type="CutIn" town="Town04">
5-
<ego_vehicle x="284.4" y="16.4" z="2.5" yaw="180" model="vehicle.lincoln.mkz2017" />
5+
<ego_vehicle x="284.4" y="16.4" z="2.5" yaw="180" model="vehicle.lincoln.mkz_2017" />
66
<other_actor x="324.2" y="20.7" z="-100" yaw="180" model="vehicle.tesla.model3" />
77
<weather cloudiness="0" precipitation="0" precipitation_deposits="0" wind_intensity="0" sun_azimuth_angle="0" sun_altitude_angle="75" />
88
</scenario>
99
<scenario name="CutInFrom_right_Lane" type="CutIn" town="Town04">
10-
<ego_vehicle x="284.4" y="16.4" z="2.5" yaw="180" model="vehicle.lincoln.mkz2017" />
10+
<ego_vehicle x="284.4" y="16.4" z="2.5" yaw="180" model="vehicle.lincoln.mkz_2017" />
1111
<other_actor x="336.6" y="14.4" z="-100" yaw="180" model="vehicle.tesla.model3" />
1212
<weather cloudiness="0" precipitation="0" precipitation_deposits="0" wind_intensity="0" sun_azimuth_angle="0" sun_altitude_angle="75" />
1313
</scenario>

‎srunner/examples/FollowLeadingVehicle.xml

Lines changed: 22 additions & 22 deletions
Original file line numberDiff line numberDiff line change
@@ -1,70 +1,70 @@
11
<?xml version="1.0"?>
22
<scenarios>
33
<scenario name="FollowLeadingVehicle_1" type="FollowLeadingVehicle" town="Town01">
4-
<ego_vehicle x="107" y="133" z="0.5" yaw="0" model="vehicle.lincoln.mkz2017" />
4+
<ego_vehicle x="107" y="133" z="0.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
55
<weather cloudiness="0" precipitation="0" precipitation_deposits="0" wind_intensity="0" sun_azimuth_angle="0" sun_altitude_angle="75" />
66
</scenario>
77
<scenario name="FollowLeadingVehicleWithObstacle_1" type="FollowLeadingVehicleWithObstacle" town="Town01">
8-
<ego_vehicle x="107" y="133.5" z="0.5" yaw="0" model="vehicle.lincoln.mkz2017" />
8+
<ego_vehicle x="107" y="133.5" z="0.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
99
</scenario>
1010
<scenario name="FollowLeadingVehicle_2" type="FollowLeadingVehicle" town="Town01">
11-
<ego_vehicle x="105" y="199.1" z="0.5" yaw="0" model="vehicle.lincoln.mkz2017" />
11+
<ego_vehicle x="105" y="199.1" z="0.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
1212
</scenario>
1313
<scenario name="FollowLeadingVehicleWithObstacle_2" type="FollowLeadingVehicleWithObstacle" town="Town01">
14-
<ego_vehicle x="105" y="199.1" z="0.5" yaw="0" model="vehicle.lincoln.mkz2017" />
14+
<ego_vehicle x="105" y="199.1" z="0.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
1515
</scenario>
1616
<scenario name="FollowLeadingVehicle_3" type="FollowLeadingVehicle" town="Town02">
17-
<ego_vehicle x="28.7" y="302.5" z="0.4" yaw="180" model="vehicle.lincoln.mkz2017" />
17+
<ego_vehicle x="28.7" y="302.5" z="0.4" yaw="180" model="vehicle.lincoln.mkz_2017" />
1818
</scenario>
1919
<scenario name="FollowLeadingVehicleWithObstacle_3" type="FollowLeadingVehicleWithObstacle" town="Town02">
20-
<ego_vehicle x="28.7" y="302.5" z="0.4" yaw="180" model="vehicle.lincoln.mkz2017" />
20+
<ego_vehicle x="28.7" y="302.5" z="0.4" yaw="180" model="vehicle.lincoln.mkz_2017" />
2121
</scenario>
2222
<scenario name="FollowLeadingVehicle_4" type="FollowLeadingVehicle" town="Town03">
23-
<ego_vehicle x="120" y="193" z="3" yaw="180" model="vehicle.lincoln.mkz2017" />
23+
<ego_vehicle x="120" y="193" z="3" yaw="180" model="vehicle.lincoln.mkz_2017" />
2424
</scenario>
2525
<scenario name="FollowLeadingVehicleWithObstacle_4" type="FollowLeadingVehicleWithObstacle" town="Town03">
26-
<ego_vehicle x="150" y="193.2" z="3" yaw="180" model="vehicle.lincoln.mkz2017" />
26+
<ego_vehicle x="150" y="193.2" z="3" yaw="180" model="vehicle.lincoln.mkz_2017" />
2727
</scenario>
2828
<scenario name="FollowLeadingVehicle_5" type="FollowLeadingVehicle" town="Town04">
29-
<ego_vehicle x="-326.2 " y="435.8" z="0" yaw="0" model="vehicle.lincoln.mkz2017" />
29+
<ego_vehicle x="-326.2 " y="435.8" z="0" yaw="0" model="vehicle.lincoln.mkz_2017" />
3030
</scenario>
3131
<scenario name="FollowLeadingVehicleWithObstacle_5" type="FollowLeadingVehicleWithObstacle" town="Town04">
32-
<ego_vehicle x="-337 " y="435.8" z="5.5" yaw="0" model="vehicle.lincoln.mkz2017" />
32+
<ego_vehicle x="-337 " y="435.8" z="5.5" yaw="0" model="vehicle.lincoln.mkz_2017" />
3333
</scenario>
3434
<scenario name="FollowLeadingVehicle_6" type="FollowLeadingVehicle" town="Town04">
35-
<ego_vehicle x="44.8" y="-98.3" z="0" yaw="-18" model="vehicle.lincoln.mkz2017" />
35+
<ego_vehicle x="44.8" y="-98.3" z="0" yaw="-18" model="vehicle.lincoln.mkz_2017" />
3636
</scenario>
3737
<scenario name="FollowLeadingVehicleWithObstacle_6" type="FollowLeadingVehicleWithObstacle" town="Town04">
38-
<ego_vehicle x="44.8" y="-98.3" z="0" yaw="-18" model="vehicle.lincoln.mkz2017" />
38+
<ego_vehicle x="44.8" y="-98.3" z="0" yaw="-18" model="vehicle.lincoln.mkz_2017" />
3939
</scenario>
4040
<scenario name="FollowLeadingVehicle_7" type="FollowLeadingVehicle" town="Town04">
41-
<ego_vehicle x="178" y="-395.8" z="0" yaw="180" model="vehicle.lincoln.mkz2017" />
41+
<ego_vehicle x="178" y="-395.8" z="0" yaw="180" model="vehicle.lincoln.mkz_2017" />
4242
</scenario>
4343
<scenario name="FollowLeadingVehicleWithObstacle_7" type="FollowLeadingVehicleWithObstacle" town="Town04">
44-
<ego_vehicle x="178" y="-395.8" z="0" yaw="180" model="vehicle.lincoln.mkz2017" />
44+
<ego_vehicle x="178" y="-395.8" z="0" yaw="180" model="vehicle.lincoln.mkz_2017" />
4545
</scenario>
4646
<scenario name="FollowLeadingVehicle_8" type="FollowLeadingVehicle" town="Town05">
47-
<ego_vehicle x="170.6" y="-182" z="0" yaw="-136" model="vehicle.lincoln.mkz2017" />
47+
<ego_vehicle x="170.6" y="-182" z="0" yaw="-136" model="vehicle.lincoln.mkz_2017" />
4848
</scenario>
4949
<scenario name="FollowLeadingVehicleWithObstacle_8" type="FollowLeadingVehicleWithObstacle" town="Town05">
50-
<ego_vehicle x="170.6" y="-182.0" z="0" yaw="-137" model="vehicle.lincoln.mkz2017" />
50+
<ego_vehicle x="170.6" y="-182.0" z="0" yaw="-137" model="vehicle.lincoln.mkz_2017" />
5151
</scenario>
5252
<scenario name="FollowLeadingVehicle_9" type="FollowLeadingVehicle" town="Town05">
53-
<ego_vehicle x="-150" y="-190" z="11" yaw="1" model="vehicle.lincoln.mkz2017" />
53+
<ego_vehicle x="-150" y="-190" z="11" yaw="1" model="vehicle.lincoln.mkz_2017" />
5454
</scenario>
5555
<scenario name="FollowLeadingVehicleWithObstacle_9" type="FollowLeadingVehicleWithObstacle" town="Town05">
56-
<ego_vehicle x="-150" y="-190" z="11" yaw="1" model="vehicle.lincoln.mkz2017" />
56+
<ego_vehicle x="-150" y="-190" z="11" yaw="1" model="vehicle.lincoln.mkz_2017" />
5757
</scenario>
5858
<scenario name="FollowLeadingVehicle_10" type="FollowLeadingVehicle" town="Town05">
59-
<ego_vehicle x="-141" y="208.5" z="9" yaw="0" model="vehicle.lincoln.mkz2017" />
59+
<ego_vehicle x="-141" y="208.5" z="9" yaw="0" model="vehicle.lincoln.mkz_2017" />
6060
</scenario>
6161
<scenario name="FollowLeadingVehicleWithObstacle_10" type="FollowLeadingVehicleWithObstacle" town="Town05">
62-
<ego_vehicle x="-141" y="208.5" z="9" yaw="0" model="vehicle.lincoln.mkz2017" />
62+
<ego_vehicle x="-141" y="208.5" z="9" yaw="0" model="vehicle.lincoln.mkz_2017" />
6363
</scenario>
6464
<scenario name="FollowLeadingVehicle_11" type="FollowLeadingVehicle" town="Town02">
65-
<ego_vehicle x="137" y="105.3" z="0.4" yaw="180" model="vehicle.lincoln.mkz2017" />
65+
<ego_vehicle x="137" y="105.3" z="0.4" yaw="180" model="vehicle.lincoln.mkz_2017" />
6666
</scenario>
6767
<scenario name="FollowLeadingVehicleWithObstacle_11" type="FollowLeadingVehicleWithObstacle" town="Town02">
68-
<ego_vehicle x="137" y="105.3" z="0.4" yaw="180" model="vehicle.lincoln.mkz2017" />
68+
<ego_vehicle x="137" y="105.3" z="0.4" yaw="180" model="vehicle.lincoln.mkz_2017" />
6969
</scenario>
7070
</scenarios>

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