def _create_behavior(self):
"""
The behavior tree returned by this method is as follows:
The ego vehicle is trying to pass a leading vehicle in the same lane
by moving onto the oncoming lane while another vehicle is moving in the
opposite direction in the oncoming lane.
"""
# Leaf nodes
actor_source = ActorSource(
[
"vehicle.audi.tt", "vehicle.tesla.model3",
"vehicle.nissan.micra"
],
self._source_transform,
self._source_gap,
self._blackboard_queue_name,
)
actor_sink = ActorSink(self._sink_location, 10)
ego_drive_distance = DriveDistance(self.ego_vehicles[0],
self._ego_vehicle_drive_distance)
waypoint_follower = WaypointFollower(
self.other_actors[1],
self._opposite_speed,
blackboard_queue_name=self._blackboard_queue_name,
avoid_collision=True,
)
pedestrian_walking = KeepVelocity(self.other_actors[2],
1,
distance=300)
# Non-leaf nodes
parallel_root = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
# Building tree
parallel_root.add_child(ego_drive_distance)
parallel_root.add_child(actor_source)
parallel_root.add_child(actor_sink)
parallel_root.add_child(waypoint_follower)
parallel_root.add_child(pedestrian_walking)
scenario_sequence = py_trees.composites.Sequence()
scenario_sequence.add_child(
ActorTransformSetter(self.other_actors[0],
self._first_actor_transform))
scenario_sequence.add_child(
ActorTransformSetter(self.other_actors[1],
self._second_actor_transform))
# scenario_sequence.add_child(
# ActorTransformSetter(self.other_actors[2],
# self._third_actor_transform))
scenario_sequence.add_child(parallel_root)
scenario_sequence.add_child(ActorDestroy(self.other_actors[0]))
scenario_sequence.add_child(ActorDestroy(self.other_actors[1]))
scenario_sequence.add_child(ActorDestroy(self.other_actors[2]))
return scenario_sequence
def _create_behavior(self):
"""
Hero vehicle is turning left in an urban area,
at a signalized intersection, while other actor coming straight
.The hero actor may turn left either before other actor
passes intersection or later, without any collision.
After 80 seconds, a timeout stops the scenario.
"""
sequence = py_trees.composites.Sequence("Sequence Behavior")
# Selecting straight path at intersection
target_waypoint = generate_target_waypoint(
CarlaDataProvider.get_map().get_waypoint(
self.other_actors[0].get_location()), 0)
# Generating waypoint list till next intersection
plan = []
wp_choice = target_waypoint.next(1.0)
while not wp_choice[0].is_intersection:
target_waypoint = wp_choice[0]
plan.append((target_waypoint, RoadOption.LANEFOLLOW))
wp_choice = target_waypoint.next(1.0)
# adding flow of actors
actor_source = ActorSource(['vehicle.tesla.model3', 'vehicle.audi.tt'],
self._other_actor_transform, 15,
self._blackboard_queue_name)
# destroying flow of actors
actor_sink = ActorSink(plan[-1][0].transform.location, 10)
# follow waypoints untill next intersection
move_actor = WaypointFollower(
self.other_actors[0],
self._target_vel,
plan=plan,
blackboard_queue_name=self._blackboard_queue_name,
avoid_collision=True)
# wait
wait = DriveDistance(self.ego_vehicles[0], self._ego_distance)
# Behavior tree
root = py_trees.composites.Parallel(
policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
root.add_child(wait)
root.add_child(actor_source)
root.add_child(actor_sink)
root.add_child(move_actor)
sequence.add_child(
ActorTransformSetter(self.other_actors[0],
self._other_actor_transform))
sequence.add_child(root)
sequence.add_child(ActorDestroy(self.other_actors[0]))
return sequence