Starting with Behavior Metrics

[marcospaulo429]

Hi, my name is Marcos Paulo. I'm just starting to contribute in Behavior Metrics. In the "good first issue" label has just one issue open and and it's been open for years, so it's probably already been resolved. Is there any other issue label that is less difficult for me to start with?

[sergiopaniego]

Hi @marcospaulo429!

Thanks for your interest in contributing to Behavior Metrics!
To get started, we recommend you install the software first and then start contributing. Have you been able to install the tool already?
After that, we can start discussing possible issues. I have added the good first issue to one of them (#646)

[marcospaulo429]

I'm still trying to make the tool work, but I'm having difficulty in this part:
"Using terminal in container
The recommended way to work, is by writing down docker logs container-name and you will get an URL, which will take you to notebook, double click on the last URL to open Jupyter."
Is there a more detailed step by step guide to make it work?

[sergiopaniego]

That’s part of the installation using a Docker Image.
We provide two installation paths, one installing the software from source and the other generating a docker container from the image provided. The first one is the recommended procedure.
Are you installing it using the second option?

[marcospaulo429]

I'm installing using the second option. My error is at the end of the section Using VNC to visualize container when I use the command python3 driver_gazebo.py -c configs/gazebo/default.yml -g . I already tried the next step (sudo apt-get update && sudo apt-get upgrade) but when I use this command in the jupyter notebook keeps appearing the following:
40: CARLA is not supported
Traceback (most recent call last):
File "driver_gazebo.py", line 22, in
from pilot_gazebo import PilotGazebo
File "/root/BehaviorMetrics/behavior_metrics/pilot_gazebo.py", line 24, in
from robot.sensors import Sensors
File "/root/BehaviorMetrics/behavior_metrics/robot/sensors.py", line 17, in
from robot.interfaces.laser import ListenerLaser
File "/root/BehaviorMetrics/behavior_metrics/robot/interfaces/laser.py", line 5, in
from jderobotTypes import LaserData
ModuleNotFoundError: No module named 'jderobotTypes'

[sergiopaniego]

The error displayed indicated a missing package (https://github.com/JdeRobot/BehaviorMetrics/blob/noetic-devel/requirements.txt).
You can try running

pip3 install -r requirements.txt

Anyway, the docker installation doesn't include CARLA since it's focused on Gazebo. As you can see, the launch command that you tried would launch Gazebo instead of CARLA, which is the main simulator that we use right now for autonomous driving, and all the current developments that we have use CARLA.

For using CARLA you would need to install everything inside the container so I would recommend instead following the installation instructions from the source code instead of using the Docker image.

[sergiopaniego]

Please confirm if this resolves the issue!

[AryanNanda17]

@sergiopaniego, for downloading Behavior Metrics there is a prerequisite of ubuntu 20.04. I have got the latest Ubuntu 22.x, so should I downgrade it to 20.04 or the installations will work for 22.x also.

[sergiopaniego]

From previous experiences, it's complicated to make the platform work in Ubuntu 22 because of the ROS 1 constraint.
I would recommend either:

• Installing it on Ubuntu 20
• Installing it via Docker image. Our current image doesn't include CARLA because of image size constraints on the free tier of Docker Hub. For this reason, you would have to install CARLA following the instructions here: https://jderobot.github.io/BehaviorMetrics/install/ but inside the Docker image with Ubuntu 20 and GPU support.

Either way, it would be a great opportunity to create documentation of how to install everything following these instructions on our webpage. You could create your first issue and add this documentation. This would be a great first contribution. What do you think?

[AryanNanda17]

I will do installation of Ubuntu 20.04 and then I would do setup Behavior Metrics.
I would love to add the documentation of the complete installation process on the webpage. Thanks for giving me this opportunity!
Could you please specify which webpage are you referring for adding documentation because the docs of installations are already written here.

[sergiopaniego]

The issue would be reviewing that documentation and updating it

[AryanNanda17]

Hello @sergiopaniego!
My laptop has a Nvidia GPU with 4 GB VRam but the minimum requirement for Carla's server is 6 GB, so please verify that there is no other way to set up Carla now, other than using Cloud GPU service.
I have done the setup and just need the required VRam to render Carla Simulation. Also, I have found several issues in the documentation and will do PR soon.

[sergiopaniego]

Hi @AryanNanda17!
When you launch CARLA, it needs more than 4GB of VRAM to run, that's correct. You would need a more powerful machine to run the simulator, for example using a cloud service.
Please open the PR and we can discuss it directly!

[vtsamit]

Hi @sergiopaniego, I have tried running CARLA with flags like -quality-level=Low and -RenderOffscreen but still it is not working due to minimum 6 GB VRAM requirement. Currently I have 4GB VRAM on my system. Is it possible that we use previous versions of CARLA (which had less VRAM requirement) for contributing to Behavior Metrics or should I try it with a cloud based service? Please suggest what will be the correct approach. Thank you.

[sergiopaniego]

Hi @vtsamit!
Give me details about the CARLA version you would like to use and its requirements so I can give you further details.
Does the simulator open using those flags?

[vtsamit]

[vtsamit]

@sergiopaniego Please suggest how to proceed. Thank You.

[sergiopaniego]

This error could be related to some changes in CARLA's API or CARLA-ROS-bridge
I suggest that you adapt the BehaviorMetrics codebase to this specific case updating it to support CARLA 0.9.10.
What do you think? The error is thrown when calling the API.
Another possibility could be using another hardware that meets the requirements (remote server or cloud instance) if you can access them.

[vtsamit]

@sergiopaniego Thank you for the reply. I have made the required changes and now CARLA 0.9.10 is working fine with latest Behavior Metrics package.

[sergiopaniego]

Great!! 🚀