smarts环境安装编译
一.安装
1.源码下载
cd <path/to/SMARTS>
2.安装依赖环境Follow the instructions given by prompt for setting up the SUMO_HOME environment variable
bash utils/setup/install_deps.sh
3.确认安装的sumo版本 is >= 1.5.0,如果没安装好参考./doc/SUMO_TROUBLESHOOTING.md或下面安装方式安装sumo,并验证
sumo
4.新建虚拟环境setup virtual environment; presently at least Python 3.7 and higher is officially supported
python3.7 -m venv .venv
5.虚拟环境激活
source .venv/bin/activate
6.更新pip版本
pip install --upgrade pip
7.导入训练需要安装包
pip install -e .[train]
8. 渲染相机传感器观察
pip install -e .[camera-obs]
9.运行并测试test安装包 sanity-test (and verify they are passing).若测试失败,查看 './sanity_test_result.xml' .
pip install -e .[test]
make sanity-test
二.问题
1.执行make sanity-test,出现下面错误.
Traceback (most recent call last):
File "/usr/lib/python3.7/threading.py", line 926, in _bootstrap_inner
self.run()
File "/usr/lib/python3.7/threading.py", line 870, in run
self._target(*self._args, **self._kwargs)
File "/data/lyy/ROS/SMARTS-master/cli/studio.py", line 77, in _build_single_scenario
generate_glb_from_sumo_network(map_net, str(map_glb))
File "/data/lyy/ROS/SMARTS-master/smarts/sstudio/sumo2mesh.py", line 27, in generate_glb_from_sumo_network
glb = road_network.build_glb()
File "/data/lyy/ROS/SMARTS-master/smarts/core/sumo_road_network.py", line 394, in build_glb
return self._make_glb_from_polys(polys)
File "/data/lyy/ROS/SMARTS-master/smarts/core/sumo_road_network.py", line 390, in _make_glb_from_polys
return GLBData(gltf.export_glb(scene, extras=metadata, include_normals=True))
TypeError: export_glb() got an unexpected keyword argument 'extras'
解决:根据官方github中解释,要安装requirements.txt相对应的安装包版本.
pip install --no-cache-dir -r requirements.txt
runing
# build scenarios/loop
scl scenario build --clean scenarios/loop
# run an experiment
scl run --envision examples/single_agent.py scenarios/loop
打开网页端显示
# From SMARTS project root; starts SMARTS and the Envision server
# ...if you want to change the startup command for SMARTS update the supervisord.conf file
supervisord
# Then to visit the Envision web app in your browser,
http://localhost:8081/
SUMO仿真软件
一、安装方式
源码安装
二、安装步骤
1、下载源码
官网:http://sumo.sourceforge.net
2、安装依赖库
命令如下:
sudo apt-get install cmake python g++ libxerces-c-dev libfox-1.6-dev libgdal-dev libproj-dev libgl2ps-dev swig
3、解压SUMO-1.2.0
命令行形式:
tar xzf sumo-src-1.2.0.tar.gz
cd sumo-1.2.0
pwd
这样就可以看到sumo的路径
4、添加环境变量
使用vi或者gedit等打开~/.bashrc,并在最后一行添加SUMO环境变量,具体如下
sudo vi ~/.bashrc
export SUMO_HOME=“步骤3 使用pwd显示的路径”
source ~/.bashrc
echo $SUMO_HOME
成功添加后,使用echo这样就可以看到sumo路径
5.测试
直接在命令行终端中输入sumo
(纯命令行)或sumo-gui
(带图形化界面),即可打开该程序。
三.使用
SUMO的仿真至少需要两个文件:
1.道路文件,或者叫路网文件(net.xml),就是对行车道路的描述文件;
2.车流文件(rou.xml),或者叫做车量行驶文件,用来描述车流量的行为。当然,更加高级的仿真可以加入别的文件,比如车辆描述文件,地形文件。