OpenScenarioGateway

About the module

This is module load and holds the chosen scenario in memory and contains various utility functions to interact with the scenario.

Features

IP settings

ScenarioModule reads the IP address for each object from the ASAM Vehicle Catalog file (located in the ~/.astazero/ATOS/Catalogs/Vehicles/VehicleCatalog directory). The IP address must be defined as a property in the Vehicle Catalog file for each object. The property must be named ip and have the IP address as its value.

´´´xml ´´´

Usage

The following ROS parameters can be set for ScenarioModule:

atos:
  object_control:
    ros__parameters:
      open_scenario_file: "scenario_name.xosc"     # The name of the scenario to open. Located in the ~/.astazero/ATOS/osc directory.
      active_object_names: ["object1", "object2"]  # List of object names to be active in the scenario. An empty list means all objects are active.
      start_delay_ms: 0                            # Delay in milliseconds to add to all start commands sent to the objects.

Using CustomCommandActions

The ASAM OpenX standard supports adding user defied actions to the scenario. These actions are called CustomCommandActions. The OpenScenarioGateway module provides a ROS publisher that will publish a message to the /custom_command_action topic when a CustomCommandAction is encountered in the scenario. The message will contain the type of the action and the content (details: https://releases.asam.net/OpenSCENARIO/1.0.0/Model-Documentation/content/CustomCommandAction.html)

In the code below is an example of how you could add a CustomCommandAction to an Event. This code uses the scenariogeneration python library and will trigger a POST REST request with the RESTGateway module:

car_reached_trigger_position = xosc.EntityTrigger(
    name="car_reached_trigger_position",
    delay=0,
    conditionedge=xosc.ConditionEdge.none,
    entitycondition=xosc.ReachPositionCondition(
        xosc.LanePosition(0, 0, 1, 3), 2
    ),
    triggerentity=CAR_ID,
)

custom_command_content = json.dumps(
    {
        "endpoint": "http://localhost:8080",
        "data": {
            "my_custom_command": "my_custom_command_data"
        },
    }
)

my_action = xosc.UserDefinedAction(
    custom_command_action=xosc.CustomCommandAction(type="POST_JSON", content=custom_command_content)
)

my_event = xosc.Event(
    CAR_ID + ",high_speed_event",
    xosc.Priority.parallel,
)

my_event.add_trigger(car_reached_trigger_position)
my_event.add_action("MyCustomAction", my_action)
car_maneuver.add_event(my_event)