carla-simulator / carla-simulator/scenario_runner
Possible Bug - Targets not following xosc RoutingAction with <Waypoint routeStrategy="leastIntersections">
- Dominant language
- Python
- Stars
- 681
- Forks
- 437
- PR merge metrics
- No merged PRs in 30d
Description
**Describe the bug**
Hi, I noticed that when I run the scenario-runner with a xosc, that has RoutingActions with < Waypoint routeStrategy="leastIntersections" >-waypoints, the vehicles (neither the ego nor all target-vehicles) follow the trajectory, but will instead never leave the road, even if the next waypoint is in a different road (e.g. they will never turn at a junction if the next waypoint can quickly be reached by turning right)
This does not happen when I use < Waypoint routeStrategy="shortest" >, now the vehicles turn at the intersections.
My understanding is, that "leastIntersections" should just use turning via the RoadNetwork, which actually did work with scenario_runner-0.9.10, but it does not work with my scenario anymore with 0.9.12 and 0.9.13
I do not have any form of ControllerAction in the scenario
Do you have any idea why this occurs with the newer releases? Can it be influenced by e.g. some form of autopilot that might be triggered by my usage of the runner within my program? (E.g. the bugfix that Autopilot was not activated for newly spawned vehicles before 0.9.12)
**To Reproduce**
Difficult, occurs in my client, but did not happen before ScenarioRunner 0.9.12
**Expected behavior**
Vehicle actually follows the trajectory
**Screenshots**
If applicable, add screenshots to help explain your problem.
**Desktop (please complete the following information):**
- OS: Windows10
- Carla: 0.9.13 with ScenarioRunner 0.9.12/0.9.13
- Python version 3.7
**Additional context**
Add any other context about the problem here.
Contributor guide
Assessment
This issue has not been assessed yet.