Refactoring

.github/workflows/automated-testing.yml

@@ -27,9 +27,8 @@ jobs:
       - shell: bash
         run: |
               xhost +local:
-      - uses: ika-rwth-aachen/carlos-ci-action@v0.1.1
+      - uses: ika-rwth-aachen/carlos-ci-action@v0.1.2
         with:
-          composefile-path: automated-testing/carla-sim.yml
           scenario-folder-path: ${{ matrix.filedir }}
           scenario-file-name: ${{ matrix.filename }}
       - shell: bash
@@ -63,10 +62,9 @@ jobs:
       - shell: bash
         run: |
               xhost +local:
-      - uses: ika-rwth-aachen/carlos-ci-action@v0.1.1
+      - uses: ika-rwth-aachen/carlos-ci-action@v0.1.2
         continue-on-error: true
         with:
-          composefile-path: automated-testing/carla-sim.yml
           scenario-folder-path: ${{ matrix.filedir }}
           scenario-file-name: ${{ matrix.filename }}
       - shell: bash

README.md

@@ -72,9 +72,9 @@ Each link below provides a detailed description of a provided use case and instr
 
 | Use Case | Integrated Components | Description |
 | ------ | ------                | ------ 
-| [***software-prototyping***](./software-prototyping/README.md) | carla-simulator, carla-ros-bridge, rviz | Transfers simulation data into the ROS ecosystem. |
-| [***data-driven-development***](./data-driven-development/README.md) | carla-simulator, carla-ros-bridge, carla-scenario-runner | Automated simulation configuration to capture sensor data at large scale. |
-| [***automated-testing***](./automated-testing/README.md) | carla-simulator, carla-scenario-runner | Sequential simulation of multiple scenarios in OpenSCENARIO format with automated evaluation. |
+| [***software-prototyping***](./software-prototyping/README.md) | carla-server, carla-ros-bridge, rviz | Transfers simulation data into the ROS ecosystem. |
+| [***data-driven-development***](./data-driven-development/README.md) | carla-server, carla-ros-bridge, carla-scenario-runner | Automated simulation configuration to capture sensor data at large scale. |
+| [***automated-testing***](./automated-testing/README.md) | carla-server, carla-scenario-runner | Sequential simulation of multiple scenarios in OpenSCENARIO format with automated evaluation. |
 
 ## Simulation Architecture
 
@@ -134,7 +134,7 @@ To enable scenario-based testing and evaluation, the carla-scenario-runner is us
 
 
 > [!NOTE]
-> For all provided use case examples we use predefined Docker services, listed in [carla-components.yml](./utils/components.yml) and further described in the [carla-components overview](./utils/components.md).
+> For all provided use case examples we use predefined Docker services, listed in [carla-services.yml](./utils/carla-essentials/carla-services.yml) and further described in the [carla-components overview](./utils/carla-essentials/README.md).
 
 ## Citation
 We hope that our simulation framework CARLOS can help your research. If this is the case, please cite it using the following metadata.

automated-testing/README.md

@@ -16,7 +16,7 @@ The subsequent demonstration showcases *automated testing* and specifically addr
 > Make sure that all [system requirements](../utils/requirements.md) are fulfilled.
 > Additionally, the CI related part of this demo requires a [self-hosted GitHub Runner](https://docs.github.com/en/actions/hosting-your-own-runners/managing-self-hosted-runners/about-self-hosted-runners) to execute scenarios within a [GitHub workflow](https://docs.github.com/en/actions/using-workflows/about-workflows). The specific requirements for such a runner are listed [below](#self-hosted-github-runner).
 
-This demo aims to automatically evaluate predefined test scenarios. For this purpose, a test catalog can be defined using OpenSCENARIO files as contained in the [scenarios](../utils/scenarios) folder. These scenarios can be simulated and evaluated using the [carla-scenario-runner](https://github.com/ika-rwth-aachen/carla-scenario-runner). Thus, a basic [docker-compose template](../.github/actions/evaluate-scenario/files/template.yml) only includes the `carla-simulator` and a `carla-scenario-runner` Docker service. So, in general, the demo enables the efficient execution of multiple scenario-based tests with CARLA, both in local environments and within an automated GitHub CI process.
+This demo aims to automatically evaluate predefined test scenarios. For this purpose, a test catalog can be defined using OpenSCENARIO files as contained in the [scenarios](../utils/scenarios) folder. These scenarios can be simulated and evaluated using the [carla-scenario-runner](https://github.com/ika-rwth-aachen/carla-scenario-runner). Thus, a basic [docker-compose template](../.github/actions/evaluate-scenario/files/template.yml) only includes the `carla-server` and a `carla-scenario-runner` Docker service. So, in general, the demo enables the efficient execution of multiple scenario-based tests with CARLA, both in local environments and within an automated GitHub CI process.
 
 ### Manual Testing Pipeline
 

automated-testing/evaluate-scenarios.sh

@@ -2,6 +2,10 @@
 
 set -e
 
+DEFAULT_SIMULATOR_IMAGE="rwthika/carla-simulator:server"
+DEFAULT_SCENARIO_RUNNER_IMAGE="rwthika/carla-scenario-runner:latest"
+COMPOSE_TEMPLATE_PATH="./template.yml"
+
 usage() {
   echo "Usage: $0 [-o][-p][-n] [COMPOSE_TEMPLATE_PATH] [SCENARIO_FOLDER_PATH]"
   echo "COMPOSE_TEMPLATE_PATH : Location of Compose file which can be customized through environment variables"
@@ -23,16 +27,14 @@ restart-simulator() {
   echo "Restarting simulator..."
   docker compose -f $COMPOSE_TEMPLATE_PATH kill
   docker compose -f $COMPOSE_TEMPLATE_PATH down
-  docker compose -f $COMPOSE_TEMPLATE_PATH up -d carla-simulator
+  docker compose -f $COMPOSE_TEMPLATE_PATH up -d carla-server
 }
 
 update-simulator() {
   echo "Updating simulator..."
   docker compose -f $COMPOSE_TEMPLATE_PATH pull
 }
 
-COMPOSE_TEMPLATE_PATH="./template.yml"
-
 while getopts "hopn" flag; do
 case "$flag" in
   h) 
@@ -54,8 +56,8 @@ done
 shift $(($OPTIND-1)) # return to usual handling of positional args
 
 # default settings if no external overrides provided
-export SIMULATOR_IMAGE=${SIMULATOR_IMAGE:-"rwthika/carla-simulator:server"}
-export SCENARIO_RUNNER_IMAGE=${SCENARIO_RUNNER_IMAGE:-"rwthika/carla-scenario-runner:latest"}
+export SIMULATOR_IMAGE=${SIMULATOR_IMAGE:-$DEFAULT_SIMULATOR_IMAGE}
+export SCENARIO_RUNNER_IMAGE=${SCENARIO_RUNNER_IMAGE:-$DEFAULT_SCENARIO_RUNNER_IMAGE}
 
 export COMPOSE_TEMPLATE_PATH=$(realpath ${1:-$COMPOSE_TEMPLATE_PATH})
 export SCENARIO_FOLDER_PATH=$(realpath ${2:-"../utils/scenarios"})
@@ -93,7 +95,7 @@ fi
 
 xhost +local:
 echo "Starting simulator..."
-docker compose -f $COMPOSE_TEMPLATE_PATH up -d carla-simulator
+docker compose -f $COMPOSE_TEMPLATE_PATH up -d carla-server
 
 for scenario in "${scenarios[@]}"; do
   echo "Evaluating $scenario ..."

automated-testing/template.yml

@@ -1,6 +1,6 @@
 services:
 
-  carla-simulator:
+  carla-server:
     deploy:
       resources:
           reservations:
@@ -18,9 +18,9 @@ services:
 
   carla-scenario-runner:
     depends_on:
-      carla-simulator:
+      carla-server:
         condition: service_healthy
     volumes:
       - $SCENARIO_FOLDER_PATH:/scenarios
     image: $SCENARIO_RUNNER_IMAGE
-    command: bash -ic "python ./scenario_runner.py --host carla-simulator --openscenario /scenarios/$SCENARIO_FILE_NAME --output"
+    command: bash -ic "python ./scenario_runner.py --host carla-server --openscenario /scenarios/$SCENARIO_FILE_NAME --output"

data-driven-development/config/data-driven-development-demo-permutation-execution.yml

@@ -2,7 +2,7 @@ general_settings:
     max_simulation_time: 60
     max_real_time: 300
     simulation_services:
-        - carla-simulator
+        - carla-server
         - time-health-check
         - spawned-vehicle-check
         - carla-ros-bridge
@@ -34,4 +34,4 @@ run_settings:
             - "50"
         weather:
             - ClearSunset
-            - WetCloudyNoon
+            - WetCloudyNoon

data-driven-development/config/data-driven-development-demo-scenario-execution.yml

@@ -2,7 +2,7 @@ general_settings:
     max_simulation_time: 60
     max_real_time: 300
     simulation_services:
-        - carla-simulator
+        - carla-server
         - time-health-check
         - spawned-vehicle-check
         - carla-ros-bridge
@@ -23,4 +23,4 @@ run_settings:
             - ../utils/scenarios/town01.xosc
             - ../utils/scenarios/town10.xosc
         sensors_file:
-            - ./config/sensors/rgb_segmentation_camera.json
+            - ./config/sensors/rgb_segmentation_camera.json

data-driven-development/docker-compose.yml

@@ -7,18 +7,15 @@ services:
 
   # --- core services ----------------------------------------------------------
 
-  carla-simulator:
+  carla-server:
     extends:
-      file: ../utils/components.yml
-      service: carla-simulator-offscreen
+      file: ../utils/carla-essentials/carla-services.yml
+      service: carla-server-offscreen
 
   carla-ros-bridge:
     extends:
-      file: ../utils/components.yml
+      file: ../utils/carla-essentials/carla-services.yml
       service: carla-ros-bridge
-    depends_on:
-      carla-simulator:
-        condition: service_healthy
     volumes:
       - *sensors-mount
       - ./launch/demo.launch.py:/demo.launch.py
@@ -27,38 +24,35 @@ services:
   # ----------------------------------------------------------------------------
   # --- checking services ------------------------------------------------------
 
-  spawned-vehicle-check:
+  time-health-check:
     extends:
-      file: ../utils/components.yml
+      file: ../utils/carla-essentials/carla-services.yml
       service: carla-client
     depends_on:
-      carla-simulator:
+      spawned-vehicle-check:
         condition: service_healthy
+    volumes:
+      - ./scripts/time_controller.py:/opt/carla/PythonAPI/time_controller.py
+    command: bash -ic "python time_controller.py --host carla-server ${max_simulation_time} ${max_real_time}"
+
+  spawned-vehicle-check:
+    extends:
+      file: ../utils/carla-essentials/carla-services.yml
+      service: carla-client
     volumes:
       - ./scripts/spawned_vehicle_check.py:/opt/carla/PythonAPI/spawned_vehicle_check.py
     command: sleep infinity
     healthcheck:
-      test: ["CMD-SHELL", "bash -ic \"python spawned_vehicle_check.py --host carla-simulator --role_name_list ${role_names}\""]
+      test: ["CMD-SHELL", "bash -ic \"python spawned_vehicle_check.py --host carla-server --role_name_list ${role_names}\""]
       interval: 1s
       start_period: 10s
       retries: 3
 
-  time-health-check:
-    extends:
-      file: ../utils/components.yml
-      service: carla-client
-    depends_on:
-      spawned-vehicle-check:
-        condition: service_healthy
-    volumes:
-      - ./scripts/time_controller.py:/opt/carla/PythonAPI/time_controller.py
-    command: bash -ic "python time_controller.py --host carla-simulator ${max_simulation_time} ${max_real_time}"
-
   # ----------------------------------------------------------------------------
   # --- Option A: apply random permutation setups ------------------------------
   carla-simulation-controller:
     extends:
-      file: ../utils/components.yml
+      file: ../utils/carla-essentials/carla-services.yml
       service: carla-client
     depends_on:
       spawned-vehicle-check:
@@ -67,25 +61,25 @@ services:
       - ./scripts/simulation_controller.py:/opt/carla/PythonAPI/simulation_controller.py
       - ./scripts/set_environment.py:/opt/carla/PythonAPI/set_environment.py
       - *sensors-mount
-    command: bash -ic "python -u simulation_controller.py --host carla-simulator ${controller_args}"
+    command: bash -ic "python -u simulation_controller.py --host carla-server ${controller_args}"
 
   # --- Option B: apply concrete scenario setups -------------------------------
   carla-scenario-runner:
     extends:
-      file: ../utils/components.yml
+      file: ../utils/carla-essentials/carla-services.yml
       service: carla-scenario-runner
     depends_on:
       spawned-vehicle-check:
         condition: service_healthy
     volumes:
       - *scenario-mount
-    command: bash -ic "python ./scenario_runner.py --host carla-simulator --openscenario /scenarios/${scenario_file} --waitForEgo --output"
+    command: bash -ic "python ./scenario_runner.py --host carla-server --openscenario /scenarios/${scenario_file} --waitForEgo --output"
 
   # ----------------------------------------------------------------------------
   # --- recording services -----------------------------------------------------
   rosbag-record:
     extends:
-      file: ../utils/components.yml
+      file: ../utils/carla-essentials/carla-services.yml
       service: ros-monitoring-offscreen
     depends_on:
       spawned-vehicle-check:

data-driven-development/launch/demo.launch.py

@@ -10,7 +10,7 @@ def generate_launch_description():
     # CARLA Args
     host_launch_arg = launch.actions.DeclareLaunchArgument(
         name='host',
-        default_value='carla-simulator'
+        default_value='carla-server'
     )
 
     port_launch_arg = launch.actions.DeclareLaunchArgument(

data-driven-development/scripts/simulation_controller.py

@@ -16,8 +16,8 @@ def main():
     argparser.add_argument(
         '--host',
         metavar='H',
-        default='carla-simulator',
-        help='IP of the host server (default: carla-simulator)')
+        default='carla-server',
+        help='IP of the host server (default: carla-server)')
     argparser.add_argument(
         '--spawn_point',
         metavar='S',

data-driven-development/scripts/spawned_vehicle_check.py

@@ -20,8 +20,8 @@ def main():
     argparser.add_argument(
         '--host',
         metavar='H',
-        default='carla-simulator',
-        help='IP of the host server (default: carla-simulator)')
+        default='carla-server',
+        help='IP of the host server (default: carla-server)')
     argparser.add_argument('--role_name',
                            metavar='R',
                            default='ego_vehicle',

data-driven-development/scripts/time_controller.py

@@ -16,8 +16,8 @@ def main():
     argparser.add_argument(
         '--host',
         metavar='H',
-        default='carla-simulator',
-        help='IP of the host server (default: carla-simulator)')
+        default='carla-server',
+        help='IP of the host server (default: carla-server)')
     argparser.add_argument(
         '--max_simulation_time',
         metavar='T',

software-prototyping/README.md

@@ -24,13 +24,13 @@ Directly start the use case demonstration using the top-level `run-demo.sh` scri
 This example demonstrates a basic CARLA simulation in tandem with the widely used Robot Operations System ([ROS](https://www.ros.org/)). We only cover ROS 2 with this demo. In addition to a CARLA simulation core, a ROS bridge enables communication between CARLA and ROS by translating simulation outputs (e.g. sensor data) to ROS topics. In addition, RViz is used as a visualization component.
 
 Specifically, there are three main components used in the `software-prototyping` demo:
-- [carla-simulator](https://github.com/ika-rwth-aachen/carla-simulator)
+- [carla-server](https://github.com/ika-rwth-aachen/carla-simulator)
 - [carla-ros-bridge](https://github.com/ika-rwth-aachen/carla-ros-bridge)
-- [ros-monitoring](https://github.com/ika-rwth-aachen/carlos/blob/main/utils/components.md#ros-monitoring)
+- [ros-monitoring](https://github.com/ika-rwth-aachen/carlos/blob/main/utils/carla-essentials/README.md#ros-monitoring)
 - A containerized image segmentation ROS node that serves as an example on how to attached a custom function to the simulation.
 
 > [!NOTE]
-> A detailed description of the individual components can be found in [components guide](../utils/components.md).
+> A detailed description of the individual components can be found in [components guide](../utils/carla-essentials/README.md).
 
 ### Quick Start
 After starting the `software-prototyping` demo, a CARLA GUI opens up where you can look around using <kbd>W</kbd><kbd>A</kbd><kbd>S</kbd><kbd>D</kbd>, holding the left or right mouse button and moving the mouse in the desired direction. 

software-prototyping/carla-ros-bridge.launch.py

@@ -21,7 +21,7 @@ def generate_launch_description():
     # carla-simualtor args
     host_launch_arg = launch.actions.DeclareLaunchArgument(
         name='host',
-        default_value='carla-simulator'
+        default_value='carla-server'
     )
 
     port_launch_arg = launch.actions.DeclareLaunchArgument(

software-prototyping/docker-compose.yml

@@ -6,37 +6,34 @@ x-rviz-config-mount: &rviz-config-mount ./config.rviz:/config.rviz
 
 services:
 
-  carla-simulator:
+  carla-server:
     extends:
-      file: ../utils/components.yml
-      service: carla-simulator
+      file: ../utils/carla-essentials/carla-services.yml
+      service: carla-server
 
   carla-ros-bridge:
     extends:
-      file: ../utils/components.yml
+      file: ../utils/carla-essentials/carla-services.yml
       service: carla-ros-bridge
-    depends_on:
-      carla-simulator:
-        condition: service_healthy
     volumes:
       - *launch-mount
       - *sensors-mount
     command: bash -ic 'ros2 launch /demo.launch.py'
 
   ros-monitoring:
     extends:
-      file: ../utils/components.yml
+      file: ../utils/carla-essentials/carla-services.yml
       service: ros-monitoring
     depends_on:
-      carla-simulator:
+      carla-server:
         condition: service_healthy
     volumes:
       - *rviz-config-mount
     command: bash -ic 'rviz2 -d /config.rviz --ros-args -p use_sim_time:=true &> /dev/null'
 
   image-segmentation:
     depends_on:
-      carla-simulator:
+      carla-server:
         condition: service_healthy
     image: rwthika/carlos-image-segmentation
     command: ros2 launch image_segmentation image_segmentation_launch.py image_topic:=/carla/ego_vehicle/rgb_front/image