run_leaderboard_agent.sh

# NOTE: This file is supposed to run from the leaderboard-agent branch and with a setup from doc/leadearbord_requirements


# Define Team files
export TEAM_AGENT_ROOT=${PWD}
export TEAM_AGENT=${TEAM_AGENT_ROOT}/agents/leaderboard_agent.py
export TEAM_CONFIG=${TEAM_AGENT_ROOT}/conf/launch_config.yaml

# Module paths
export LEADERBOARD_ROOT=~/TeamProject/leaderboard
export SCENARIO_RUNNER_ROOT=${TEAM_AGENT_ROOT}/scenario_runner

export PYTHONPATH=${TEAM_AGENT_ROOT}:${LEADERBOARD_ROOT}:${SCENARIO_RUNNER_ROOT}:${PYTHONPATH}

# Configure Scenarios
# Parameterization settings. These will be explained in 2.2. Now simply copy them to run the test.
export REPETITIONS=1
# If this variable is set to anything greater than 1 the engine will print the complete state of the simulation for debugging purposes.
# if > 1 DEBUG_CHECKPOINT_ENDPOINT must also be set
export DEBUG_CHALLENGE=1
export CHALLENGE_TRACK_CODENAME=MAP
export CHECKPOINT_ENDPOINT=${TEAM_AGENT_ROOT}/results.json

# Choose Route

# Alternative Route for faster testing on Town 10
export ROUTES=${SCENARIO_RUNNER_ROOT}/srunner/data/routes_devtest.xml
export ROUTES=${SCENARIO_RUNNER_ROOT}/srunner/data/routes_training.xml
export ROUTES=${SCENARIO_RUNNER_ROOT}/srunner/data/routes_validation.xml

# Alternative Route for faster testing on Town 10
#export ROUTES=${SCENARIO_RUNNER_ROOT}/srunner/data/routes_town10.xml
# Town 12 Devtest Route
#export ROUTES=${LEADERBOARD_ROOT}/data/routes_devtest.xml

export ROUTES_SUBSET=0
export RECORD_PATH=
export RESUME=
export CARLA_TIMEOUT=120

echo "Using Routes: ${ROUTES} Subset: ${ROUTES_SUBSET}"
echo "Arguments: ${*}"

# Project variables

export ENABLE_DETECTION_MATRIX=True
export DATA_MATRIX_ASYNC=False

# In large maps might block the system, if that happens set to False or retry
export ENABLE_RSS=False

export DATA_MATRIX_INTERVAL=30
export CAMERA_SPECTATOR=False

python3 ${LEADERBOARD_ROOT}/leaderboard/leaderboard_evaluator.py \
--routes=${ROUTES} \
--routes-subset=${ROUTES_SUBSET} \
--repetitions=${REPETITIONS} \
--track=${CHALLENGE_TRACK_CODENAME} \
--checkpoint=${CHECKPOINT_ENDPOINT} \
--debug-checkpoint=${DEBUG_CHECKPOINT_ENDPOINT} \
--agent=${TEAM_AGENT} \
--agent-config=${TEAM_CONFIG} \
--debug=${DEBUG_CHALLENGE} \
--record=${RECORD_PATH} \
--resume=${RESUME} \
--timeout=${CARLA_TIMEOUT} \
${*}