sudo apt-get install git build-essential cmake libgtest-dev
git clone https://github.com/intel/ad-rss-lib .
cd ad-rss-lib
mkdir build
cd build
cmake ..
make
...
/usr/bin/ld: /usr/local/lib/libgtest_main.a(gtest_main.cc.o): relocation R_X86_64_32 against `.rodata' can not be used when making a shared object; recompile with -fPIC
/usr/local/lib/libgtest_main.a: error adding symbols: Bad value
collect2: error: ld returned 1 exit status
tests/CMakeFiles/ad_rss_tests.dir/build.make:2333: recipe for target 'tests/ad_rss_tests' failed
make[2]: *** [tests/ad_rss_tests] Error 1
CMakeFiles/Makefile2:122: recipe for target 'tests/CMakeFiles/ad_rss_tests.dir/all' failed
make[1]: *** [tests/CMakeFiles/ad_rss_tests.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2

Hi folks,
Given that the C++ standard is hardcoded to 14:

Wouldn't it be worth to generate the python_wrapper_helper.py to actually forward it to gccxml

If there is no reason for it to be hardcoded this way, I'd gladly make a PR,
Cheers,

when i complile the project run colcon build
it occured errors:
fatal error: odrSpiral.h: No such file or directory
what should i do

after i running colcon build, it ocuured error as following:

/xurban/ad-rss-lib/dependencies/map/ad_map_opendrive_reader/src/geometry/Geometry.cpp:152:53: error: no matching function for call to ‘evaluate_polynomial(boost::array<double, 4>&, double&)’
152 | double v = boost::math::tools::evaluate_polynomial(poly, u);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
In file included from /xurban/ad-rss-lib/dependencies/map/ad_map_opendrive_reader/include/opendrive/geometry/Geometry.hpp:19,
from /xurban/ad-rss-lib/dependencies/map/ad_map_opendrive_reader/src/geometry/Geometry.cpp:13:
/usr/local/include/boost/math/tools/rational.hpp:189:10: note: candidate: ‘template<class T, class U> U boost::math::tools::evaluate_polynomial(const T*, const U&, std::size_t)’
189 | inline U evaluate_polynomial(const T* poly, U const& z, std::size_t count) BOOST_MATH_NOEXCEPT(U)
| ^~~~~~~~~~~~~~~~~~~
/usr/local/include/boost/math/tools/rational.hpp:189:10: note: template argument deduction/substitution failed:
/xurban/ad-rss-lib/dependencies/map/ad_map_opendrive_reader/src/geometry/Geometry.cpp:152:53: note: mismatched types ‘const T*’ and ‘boost::array<double, 4>’
152 | double v = boost::math::tools::evaluate_polynomial(poly, u);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
In file included from /xurban/ad-rss-lib/dependencies/map/ad_map_opendrive_reader/include/opendrive/geometry/Geometry.hpp:19,
from /xurban/ad-rss-lib/dependencies/map/ad_map_opendrive_reader/src/geometry/Geometry.cpp:13:
/usr/local/include/boost/math/tools/rational.hpp:205:10: note: candidate: ‘template<long unsigned int N, class T, class V> V boost::math::tools::evaluate_polynomial(const T (&)[N], const V&)’
205 | inline V evaluate_polynomial(const T(&a)[N], const V& val) BOOST_MATH_NOEXCEPT(V)
| ^~~~~~~~~~~~~~~~~~~
/usr/local/include/boost/math/tools/rational.hpp:205:10: note: template argument deduction/substitution failed:
/xurban/ad-rss-lib/dependencies/map/ad_map_opendrive_reader/src/geometry/Geometry.cpp:152:53: note: mismatched types ‘const T [N]’ and ‘boost::array<double, 4>’
152 | double v = boost::math::tools::evaluate_polynomial(poly, u);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
In file included from /xurban/ad-rss-lib/dependencies/map/ad_map_opendrive_reader/include/opendrive/geometry/Geometry.hpp:19,
from /xurban/ad-rss-lib/dependencies/map/ad_map_opendrive_reader/src/geometry/Geometry.cpp:13:
/usr/local/include/boost/math/tools/rational.hpp:212:10: note: candidate: ‘template<long unsigned int N, class T, class V> V boost::math::tools::evaluate_polynomial(const std::array<T, N>&, const V&)’
212 | inline V evaluate_polynomial(const std::array<T,N>& a, const V& val) BOOST_MATH_NOEXCEPT(V)
| ^~~~~~~~~~~~~~~~~~~
/usr/local/include/boost/math/tools/rational.hpp:212:10: note: template argument deduction/substitution failed:
/xurban/ad-rss-lib/dependencies/map/ad_map_opendrive_reader/src/geometry/Geometry.cpp:152:53: note: ‘boost::array<double, 4>’ is not derived from ‘const std::array<T, N>’
152 | double v = boost::math::tools::evaluate_polynomial(poly, u);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
/xurban/ad-rss-lib/dependencies/map/ad_map_opendrive_reader/src/geometry/Geometry.cpp:166:60: error: no matching function for call to ‘evaluate_polynomial(boost::array<double, 4>&, double&)’
166 | double tangentV = boost::math::tools::evaluate_polynomial(tangentPoly, u);

Hello,
I am trying to understand the python example of map_integration. There, the objects are initialized with geodetic coordinates (ENU). Is it possible to define objects with x and y?
How would an example look like?

`

    # example from interface_test.py
    positionGeo = ad.map.point.createGeoPoint(lon, lat, ad.map.point.Altitude(0.)) # -> I want to exchange lon and lat by x and y
    # fill the result position
    resultObject.enuPosition.centerPoint = ad.map.point.toENU(positionGeo)
    resultObject.enuPosition.heading = ad.map.point.createENUHeading(yawAngle)
    resultObject.enuPosition.dimension.length = ad.physics.Distance(4.5)
    resultObject.enuPosition.dimension.width = ad.physics.Distance(2.)
    resultObject.enuPosition.dimension.height = ad.physics.Distance(1.5)
    resultObject.enuPosition.enuReferencePoint = ad.map.access.getENUReferencePoint()

`

If this is not possible, is there an option to read the projection string from an opendrive file using this library with python. I have already found the mapdata reference, but haven't found a useful way to retrieve it - without rebuilding the whole factorypipeline.

Thanks!

HI,
I would like to use this library with Carla simulator.
Is there any tutorial to guide how to integrate RSS lib with Carla and run a simple example?

I cannot see any classes in https://intel.github.io/ad-rss-lib/doxygen/ad_rss_map_integration/index.html

Thanks for providing this repository open source. I'm trying to ingrate this as a near-real-time safety checker in my own work for some scenario evaluation, so I've built the library with python bindings (I'm a cpp noob). When I execute the safety checks (similar to the python unit tests), I get a boatload of log information from spdlog spit out to the console which clogs up what I really need to see. Is there a way to suppress this at runtime, redirect to another file, or a build flag to accomplish this? Thanks.

Hi, I only want to ask if this project is still under development?

Best,
Adam

Hello. Is there any repository where ad-rss-lib is used with the python binding provision given for reference. Thanks in advance.

Since the input to the world model is sensor information & AD Map data. (For eg: Can Gazebo models be used?)
Also, what are the steps for integration of ad-rss-lib outside of CARLA using Ad_map_access?

One question for positive lane or negative lane estimation logic:
In RssObjectPositionExtractor::newLaneSegment the object lane direction is gotten from laneSegment laneDrivingDirection. But if the object is occupying both positive and negtive lane, the lane type will be overwritten by the last occupied laneSegment. Will there be a logic bug？

if (laneSegment.drivingDirection == LaneDrivingDirection::Positive)
      {
        mObjectDimensions.onPositiveLane = true;
      }

      if (laneSegment.drivingDirection == LaneDrivingDirection::Negative)
      {
        mObjectDimensions.onNegativeLane = true;
      }

THX!

The parameter discussion page is showing not found.

I use the RSS-lib in my own simulator, and during the integration process, I modified it based on the RSS-sensor from Carla.

During the final debugging process, I found that ad-map-access does not support the UTM coordinate system, and my map happens to be in UTM coordinates, with a large map scope. And my maps use extended lon/lat offset use userData label.
Due to the large map scope and coordinate values like (x:10330.6, y:-41831.2, z:0), an error occurred when creating the ENU coordinates:

withinValidInputRange(::ad::map::point::ENUCoordinate)>> -41831.17771743114 out of valid input range [-16384.0, 16384.0]

By reviewing the ad map access doc and related issues, I've come to understand that in the ENU coordinate system, larger coordinate values lead to larger errors. Therefore, author have implemented range restrictions in the code.

How should I proceed with using the rss-lib? Is there a solution specific to the UTM coordinate system? Or do I need to explore alternative approaches and consider abandoning the use of ad-map-access?

Hi, I am repeatedly getting following error when using RSS Sensor with Carla-0.9.13

Signal 11 caught.
Malloc Size=65538 LargeMemoryPoolOffset=65554 
CommonUnixCrashHandler: Signal=11
Engine crash handling finished; re-raising signal 11 for the default handler. Good bye.
Segmentation fault (core dumped)

I suspect this might be due to call vehicle.get_physics_control() in RSS python implementation, since it makes a request to server causing it to crash.

The library libad_physics isn't being created. When tried to run "cmake ad_physics" in the dependencies, it throws "unknown cmake command find_python_binding_package". There is some issue in generating this python library.

in the install/ad_physics there is libad_physics.so generated but it's not being imported into python.

There is a need to log important messages required for debugging. The best would be to get all the logs from the lib as a string from the ad::rss::core::RssCheck calculateProperResponse(...), but the most important is also acceptable.
By most important, I mean from the core.

I can provide a PR with the change spdlog to a logger (variable + console).

Dear,

We need to replace RSS sensor with Radar sensor, it is simple to integrate or what challenges we might get?

Hi, bernd:
when i read the document(https://intel.github.io/ad-rss-lib/ad_rss_map_integration/ConstructRSSScenes/), i don't understand the subsection of 'Calculation of Metric distances within the Road Area', i have read the RSS paper, but it seems there is no related content, can U provide me some more detailed explanation?

Hi,
I want to understand how to implement the unstructured case for RSS and need clarity. I feel the problem is intractable because the number of trajectories for each set of robot is essentially infinite and hence it is not possible to evaluate the intersection of each pair for two sets of robots.

Even if we consider the braking and continue forward constraints and work with the bounds determined by the heading angle and inverse of rate of change of radius, the possible number and range of trajectories is infinite and hence the possible positions of the robot with continue forward constraint is highly complex and makes it difficult to evaluate the RSS constraints.

Can you please provide some insight?

I'm executing the make command in the ~/map/ad_physics/build folder, and i have some errors below:

/usr/bin/ld: /usr/local/lib/libspdlog.a(spdlog.cpp.o): relocation R_X86_64_TPOFF32 against `_ZGVZN6spdlog7details2os9thread_idEvE3tid' can not be used when making a shared object; recompile with -fPIC
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/ad_physics.dir/build.make:295: libad_physics.so] Error 1
make[1]: *** [CMakeFiles/Makefile2:76: CMakeFiles/ad_physics.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

I found a similar solution in this URL-https://blog.csdn.net/u010333076/article/details/77227552
but i doesn't match my questions.

The Makefile in the ~/map/ad_physics/build/Makefile is below:

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I don't know how to resolve this problem, Anyone can help me? Thanks A LOT ~

Hello,
Not to be too needy, but I am trying to build this library on arch, and I am having issues getting colcon to run. Based on the build instructions, the reason colcon is used is because the underlying carla ad_map_access library uses colcon. I tried building that on Ubuntu, but I was having issues getting that to build as well because of some issues with gtest. Would it be possible to get friendlier build instructions that use a more common tool like make/cmake/ninja?

I am not super familiar with colcon so trying to troubleshoot the build has been rough.

Also, as an aside, why did intel license this library in a way that conflicts with CARLA's license? Just curious.

I'm compiling and installing RSS library according to Carla official website (https://carla.readthedocs.io/en/latest/adv_rss/).
When I successfully compiled ad-rss-lib with colcon,
I don't know how to build rss with Carla in the Carla official website (https://carla.readthedocs.io/en/latest/adv_rss/ ---> "Build" part, As shown in the picture below).

The reason is that I can't find the ".rss" suffix file required by build (As shown in the picture above, such as "LibCarla.client.rss, PythonAPI.rss").

I try to find these files in the installation directory of Carla and ad-rss-lib build directory (As shown in the picture below). But I still can't find these files.

Maybe this question is a little naive. Please forgive the question raised by a novice. Thanks!

Hello,
I am trying to use the ad-rss-library.
I constructed the following scene:

The steps as the follows:
1- Construct the road area (world::RoadArea) as the figure.
2- Create two objects (world::Object), one for the Ego vehicle and another for the other vehicle.
3- Convert vehicle data (coordinates, velocities) to match created road area
4- Assign reasonable dynamics information ( velocity, acceleration braking , etc)
5- Create a scene from previous create items
6- Assign timeIndex
7- Iterate for n times
a) move the ego vehicle with constant velocity
b) replace the Ego vehicle object in the scene with the update Ego object after motion.
c) Call "calculateProperResponse"

The result:

• Always safe until the Ego vehicle hits the Other vehicle.
• the proper longitudinal response is always empty.
  Expected Results:
  To become unsafe long before hitting, or at lease return a proper longitudinal response.

Thanks in advance.

Hi,

I have noticed an issue with multiple packages spdlog during the building of ad_rss_lib with colcon.

The ad_rss_lib is added as a dependency to another ROS2 package (custom_package).

repositories:
  external/ad_rss_lib:
    type: git
    url: https://github.com/intel/ad-rss-lib.git
    version: v4.5.0

Then dependencies of custom_package are pulled with
vcs import --recursive < dependency.repos.
During the building, I'm receiving the below error.

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to ad_rss
[0.622s] ERROR:colcon:colcon build: Duplicate package names not supported:
- spdlog:
  - src/custom_package/external/ad_rss_lib/dependencies/map/dependencies/spdlog
  - src/custom_package/external/ad_rss_lib/dependencies/spdlog

That's because the spdlog is pulled twice: first as the ad_rss_lib dependency and then again as the dependency of carla_simulator/map.

The same happens during building the ad_rss_lib separately but with the --recursive option in git submodule update.

Thank you for developing the RSS related project.
Best regards,
Michal

Hello,
I was wondering whether your tool could work with nuScenes dataformat as well, or in case not if you know some conversion tools that can be used toward this goal.
Thanks !!

There are differences in formatting across clang-format versions (10 vs 14).

Since clang-format ver 10 is not available by default in Ubuntu 22 the suggestion is to bump CI and instruction version to clang-format-14 or ver 12 (by default in Ubuntu 20).

Or should we stick to the ver 10?

I can post a PR with ver 14.

Hi, @berndgassmann

I noticed the file directory structure layout as follow:

- ad_rss
  - generated
  - impl
  - <python>
  - CMakeLists.txt

I guess the generated dir is created by some tool which is used to auto generate exporting library according impl dir, Am I right ?

the tool is open-source or private ? Plz let me know. Forgive my strange curiosity ：）

Hi, on the python example in ad_rss/python/tests/interface_test.py at line 108 the value passed to the brakeMin is negative while in the doxygen documentation said the value has to be positive. Is this mistake on purpose?

Doxygen link in README.md is broken. It points to a non existing page.

When I execute the following command

git clone https://github.com/intel/ad-rss-lib.git
cd ad-rss-lib
git submodule update --init
colcon build

This error occurred

Please help me look at the problem

Hello, in function calculateTimeForDistance, there's a judgement on whether the car's acceleration is zero or not:

if ((acceleration == Acceleration(0.)) || (currentSpeed >= maxSpeedOnAcceleration))

However, even if current speed is higher than max_speed, the acc can still be minus, so, I think here it should be:

if ((acceleration == Acceleration(0.)) || (currentSpeed >= maxSpeedOnAcceleration && acceleration > 0))

Am I wrong?

For anyone who are having issues with python and boost,
Check this: https://stackoverflow.com/questions/24173330/cmake-is-not-able-to-find-boost-libraries

And for -fPIC flag:
https://stackoverflow.com/questions/39198826/what-does-the-fpic-compilation-flag-does

Can the Ad-rss-lib be used in a different environment other than carla?

I'm trying to build the lib using the following steps:

git clone https://github.com/intel/ad-rss-lib.git
cd ad-rss-lib
git submodule update --init
colcon build

However I'm getting

root@264371cba0f0:/home/ad-rss-lib# colcon build                           
Starting >>> spdlog  
Starting >>> ad_map_opendrive_reader
Starting >>> PROJ4
--- stderr: ad_map_opendrive_reader
FATALDependency proj not found!
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
/home/ad-rss-lib/dependencies/map/ad_map_opendrive_reader/PROJ_INCLUDE_DIR
   used as include directory in directory /home/ad-rss-lib/dependencies/map/ad_map_opendrive_reader
PROJ_LIBRARIES
    linked by target "ad_map_opendrive_reader" in directory /home/ad-rss-lib/dependencies/map/ad_map_opendrive_reader

---
Failed   <<< ad_map_opendrive_reader [0.06s, exited with code 1]
Aborted  <<< spdlog [0.09s]
Aborted  <<< PROJ4 [0.14s]   

Could you advice if I am missing some preconditions.

Thank you!

Hi,

I'm trying to install and build the library to be used by the RSS module withing CARLA

I'm using CARLA version 14 for leaderboard on Ubuntu 20 Focal Fossa

First, the cloning using the terminal kept aborting with error RPC failed, so I had to download it as a ZIP file

Second, when I build and reach the colcon build -metas colcon_python.meta, I end up with this error

I installed ad_physics already, and don't know what to do with either it or the carlaviz-backend

colcon build --metas colcon_python.meta
Starting >>> carla_msgs
Starting >>> ros_compatibility
Starting >>> carla_common
Starting >>> carla_ros_scenario_runner_types
Starting >>> carla_waypoint_types
Starting >>> ad_rss
Starting >>> carla_twist_to_control
Starting >>> gstreaming
Starting >>> telecarla_msgs
Starting >>> carlaviz-backend
Starting >>> pandacan
Starting >>> rqt_carla_control
--- stderr: ad_rss
CMake Error at CMakeLists.txt:33 (find_package):
Could not find a package configuration file provided by "ad_physics"
(requested version 2.6.3) with any of the following names:

ad_physicsConfig.cmake
ad_physics-config.cmake

Add the installation prefix of "ad_physics" to CMAKE_PREFIX_PATH or set
"ad_physics_DIR" to a directory containing one of the above files. If
"ad_physics" provides a separate development package or SDK, be sure it has
been installed.

Failed <<< ad_rss [8.94s, exited with code 1]
--- stderr: carlaviz-backend
CMake Error at CMakeLists.txt:14 (include):
include could not find load file:

third_party/LibCarla/cmake/CMakeLists.txt.in

Failed <<< carlaviz-backend [6.71s, exited with code 1]
Aborted <<< ros_compatibility [11.3s]
Aborted <<< carla_common [10.6s]
Aborted <<< carla_twist_to_control [8.41s]
Aborted <<< pandacan [6.18s]
Aborted <<< rqt_carla_control [5.66s]
Aborted <<< telecarla_msgs [7.23s]
Aborted <<< gstreaming [7.76s]
Aborted <<< carla_msgs [11.8s]
Aborted <<< carla_ros_scenario_runner_types [11.7s]
Aborted <<< carla_waypoint_types [11.4s]

Summary: 0 packages finished [24.9s]
2 packages failed: ad_rss carlaviz-backend
10 packages aborted: carla_common carla_msgs carla_ros_scenario_runner_types carla_twist_to_control carla_waypoint_types gstreaming pandacan ros_compatibility rqt_carla_control telecarla_msgs
4 packages had stderr output: ad_rss carlaviz-backend gstreaming telecarla_msgs
17 packages not processed

Thank you

When trying to build the unittests under Ubuntu 18.04 with Clang 6.0, the activation of strict warnings, causes the following error:

/travis/tests/core/RssCheckIntersectionTests.cpp:111:84: error: must specify at
least one argument for '...' parameter of variadic macro
[-Werror,-Wgnu-zero-variadic-macro-arguments]
...::testing::Range(uint64_t(0u), uint64_t(50u), uint64_t(1u)));

The problem is due to the handling of "INSTANTIATE_TEST_CASE_P" from gtest:
google/googletest#1419

According to the linked issue, a fix for this issue is on its way.

The solution for now, if you require building the unittests: Disable the corresponding warning.

when I do "cmake ../../dependencies/map/ad_physics -DCMAKE_INSTALL_PREFIX=../../install/ad_physics -DCMAKE_PREFIX_PATH=../../install/spdlog"
But,
CMake Error at generated/CMakeLists.txt:34 (find_package):
Could not find a package configuration file provided by "spdlog" with any
of the following names:

spdlogConfig.cmake
spdlog-config.cmake

Add the installation prefix of "spdlog" to CMAKE_PREFIX_PATH or set
"spdlog_DIR" to a directory containing one of the above files. If "spdlog"
provides a separate development package or SDK, be sure it has been
installed.
How to fix this problem, thanks

I have included the library in all the cpp files "pugixml.hpp"; yet I see this when I am trying to build the file.

Dear,

In Carla, we have observed that, even an occluded vehicle/actor is detected by rss sensor. But in real world scenarios that is not possible. Is there any way to differentiate target detection for,

1. Occluded
2. Out of FOV etc..

For example, in below picture, sensor detected two vehicles. Out of two, one is occluded (car covered by another car).

For occlusion, is there any flag available? How we can filter out occluded vehicle in RSS sensor?

Regards,
Yashwant