{"id":173,"date":"2020-02-19T21:15:23","date_gmt":"2020-02-19T21:15:23","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/?p=173"},"modified":"2020-11-13T22:04:49","modified_gmt":"2020-11-13T22:04:49","slug":"issues-log","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/2020\/02\/19\/issues-log\/","title":{"rendered":"Issues log"},"content":{"rendered":"

\u00a0<\/span><\/p>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
Sl No<\/span><\/th>\nDate Found<\/span><\/th>\nDate Resolved<\/span><\/th>\nOwner<\/span><\/th>\nOrigin<\/span><\/th>\nDescription<\/span><\/th>\nResolution<\/span><\/th>\nArtifacts Changed<\/span><\/th>\n<\/tr>\n
1<\/span><\/th>\n03\/01\/2020<\/span><\/th>\n03\/25\/2020<\/span><\/th>\nKartik<\/span><\/th>\nRL Node Integration<\/span><\/th>\nNeeded to figure out a way to build a synchronous interface between an RL library and the existing framework<\/span><\/th>\nImplemented threading witch locks to achieve this<\/span><\/th>\nRL ROS node<\/span><\/th>\n<\/tr>\n
2<\/span><\/th>\n03\/17\/2020<\/span><\/th>\n03\/17\/2020<\/span><\/th>\nKartik<\/span><\/th>\nCarla Simulator<\/span><\/th>\nIssues building latest Carla Version<\/span>\n

\u00a0<\/p>\n

Function definition mismatches in Unreal source code as the wrong version of Unreal was mentioned in the installation steps.<\/span><\/p>\n<\/th>\n

Temporarily changed the function definitions in the Unreal engine’s header files and re-compiled<\/span><\/th>\nUnreal Engine version changed<\/span><\/th>\n<\/tr>\n<\/tbody>\n
3<\/span><\/th>\n03\/17\/2020<\/span><\/th>\n03\/19\/2020<\/span><\/th>\nScott<\/th>\nCarla Scenario Runner<\/span><\/th>\nFailed to get stable speed performance of the generated vehicles<\/span>\n

\u00a0<\/p>\n

The scenario runner built-in pytree’s chained behavior tree has this behavior: following leading vehicle changing the agent speed without considering collision .<\/span><\/p>\n<\/th>\n

Added the collision check as a post-processing unit to change agent speed in order to avoid collisions.<\/span><\/th>\nSimulator subsystem structure changed<\/span><\/th>\n<\/tr>\n<\/tbody>\n
4<\/span><\/th>\n03\/19\/2020<\/span><\/th>\n04\/02\/2020<\/span><\/th>\nAlvin<\/span><\/th>\nSystem<\/span><\/th>\nOne iteration of the system takes too long to compute<\/span><\/th>\nCombined path planner and behavior planner nodes together to avoid ROS communication between the nodes<\/span><\/th>\nRL ROS Node & Path Planner Node<\/span><\/th>\n<\/tr>\n<\/tbody>\n
5<\/span><\/th>\n03\/25\/2020<\/span><\/th>\n03\/26\/2020<\/span><\/th>\nMayank<\/span><\/th>\nCARLA<\/span><\/th>\nCan’t spawn vehicles with non-zero initial speed in CARLA reliably<\/span><\/th>\nDesigned the scenarios to begin with all vehicles on autopilot, and control of ego vehicle is given to our system after a fixed scenario running duration. <\/span><\/th>\n\n

Simulation Subsystem<\/span><\/p>\n<\/th>\n<\/tr>\n<\/tbody>\n

6<\/span><\/th>\n09\/10\/2020<\/span><\/th>\n09\/16\/2020<\/span><\/th>\nMayank<\/span><\/th>\nCARLA<\/span><\/th>\nFrenet coordinates have incorrect values in certain intersections, and slow.<\/span><\/th>\nRedesigned the frenet coordinate calculation to be able to handle intersections which may not be in perfect right angles.<\/span><\/th>\n\n

Simulation Subsystem<\/span><\/p>\n<\/th>\n<\/tr>\n<\/tbody>\n

7<\/span><\/th>\n10\/15\/2020<\/span><\/th>\n10\/20\/2020<\/span><\/th>\nKartik<\/span><\/th>\nState Manager Class in RL Node<\/span><\/th>\nAgent not learning to handle even simple scenarios.<\/span><\/th>\nFixed the bug in creation of the state representation being fed to the neural net from the environment description message.<\/span><\/th>\n\n

RL ROS Node<\/span><\/p>\n<\/th>\n<\/tr>\n<\/tbody>\n

8<\/span><\/th>\n11\/02\/2020<\/span><\/th>\n11\/10\/2020<\/span><\/th>\nAlvin<\/span><\/th>\nPoint-to-Point Node<\/span><\/th>\nAgent crashing into vehicles for simple scenarios as well<\/th>\nFixed the hand over conditions used to transition between different RL agents to give each agent the same conditions as it was trained in.\u00a0<\/th>\n\n

Point-to-Point ROS Node<\/span><\/p>\n<\/th>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u00a0<\/p>\n\n\n

<\/p>\n","protected":false},"excerpt":{"rendered":"

\u00a0 Sl No Date Found Date Resolved Owner Origin Description Resolution Artifacts Changed 1 03\/01\/2020 03\/25\/2020 Kartik RL Node Integration Needed to figure out a way to build a synchronous interface between an RL library and the existing framework Implemented threading witch locks to achieve this RL ROS node 2 03\/17\/2020 03\/17\/2020 Kartik Carla Simulator
+ Read More<\/a><\/p>\n","protected":false},"author":196,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[6],"tags":[],"class_list":["post-173","post","type-post","status-publish","format-standard","hentry","category-project-management"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/posts\/173","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/users\/196"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/comments?post=173"}],"version-history":[{"count":18,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/posts\/173\/revisions"}],"predecessor-version":[{"id":365,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/posts\/173\/revisions\/365"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/media?parent=173"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/categories?post=173"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamd\/wp-json\/wp\/v2\/tags?post=173"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}