CDAR-593: Update to route configuration and naming (#328)

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# PR Details
## Description
CARMA Config changes to scenario names. Also added docker environment
variables for scenario name and vehicle spawn point. Added
stop_simulation script that pulls kafka logs before stopping simulation
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## Related Issue
CDAR-593
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issue first -->
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## Motivation and Context
Scenario configuration for verification testing
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## How Has This Been Tested?
XIL Cloud deployment 
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## Types of changes

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- [x] Defect fix (non-breaking change that fixes an issue)
- [x] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

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- [ ] I have added any new packages to the sonar-scanner.properties file
- [x] My change requires a change to the documentation.
- [x] I have updated the documentation accordingly.
- [x] I have read the **CONTRIBUTING** document.
[CARMA Contributing
Guide](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

Tracking:
@MishkaMN

ail_vru_uc1_scenario/README.md

@@ -13,9 +13,10 @@ This CARMA Configuration Image creates a **AIL** (Anything-In-the-Loop) scenario
 | ----------| ----------- |--------- |
 | 2,6 | 35 | TRUE |
 | 4,8 | 5 | TRUE|
-
-![Alt text](docs/scenario_diagram.png)
-
+### Scenario: West to North Left Turn (A)
+![Alt text](docs/scenario_north.png)
+### Scenario: South to North Through (B)
+![Alt text](docs/scenario_south.png)
 ## Simulators
 
 | Simulator      | Version |
@@ -25,8 +26,13 @@ This CARMA Configuration Image creates a **AIL** (Anything-In-the-Loop) scenario
 
 ## Deployment Instructions
 ### Deployment Steps
-TODO: Complete this section
-Copy all files in the route_config directory to `/opt/carma/routes/`
+1) Copy all files in the `ail_vru_uc1_scenario/cdasimconfig/route_config/` directory to `/opt/carma/routes/`
+2) Navigate to `ail_vru_uc1_scenario` and `./build_image.sh` to build CARMA Config image. (Optional if remote image exists)
+   1) `./build_image/sh` should print resulting image name
+3) Run `carma config set <carma-config-image-name>`
+4) Navigate to the `cdasim_config/` directory.
+5) `./run_simulation` script clears all necessary volumes and containers and runs `carma start all`
+6) Launch a second terminal and run `./stop_simulation` to stop the simulation and collect data.
 ### Locally Built Docker Images
 The Virtual Signal Controller is built locally and currently only available to licenced users.
 

ail_vru_uc1_scenario/cdasim_config/.env

@@ -1,3 +1,16 @@
 INFRASTRUCTURE_ID=rsu_1234
 SIMULATION_MODE=true
-TIME_SYNC_TOPIC=time_sync
+TIME_SYNC_TOPIC=time_sync
+# North Destination
+VEHICLE_SELECTED_ROUTE=vru_uc1_north
+SIMULATION_SCENARIO="VulnerableRoadUserCollision_ThreeTrucks"
+
+## SCENARIOS CONFIGURATION -----------------------
+# To switch between scenarios, simply uncomment the scenario
+# you would like to run and comment all other scenarios
+
+# SCENARIO: West to North left turn (A)
+VEHICLE_SPAWN_POINT="215.12,-169,0,0,0,0"
+
+# SCENARIO: South to North through (B)
+# VEHICLE_SPAWN_POINT="258.12,-125,0,0,0,90"

ail_vru_uc1_scenario/cdasim_config/route_config/vru_uc1_north.csv

@@ -0,0 +1,2 @@
+0.002321,0.0019849,0,DEST_1
+0.0026284,0.0022296,0,vru_uc1_north

ail_vru_uc1_scenario/cdasim_config/scenario-runner/vru_collision.py

@@ -40,8 +40,8 @@
 Configurations
 """
 
-WALKING_PERSON_SPEED_IN_MS = 1.0
-WALKING_PERSON_TRIGGER_WALKING_DISTANCE_IN_METERS = 11.0
+WALKING_PERSON_SPEED_IN_MS = 2.0
+WALKING_PERSON_TRIGGER_WALKING_DISTANCE_IN_METERS = 15.0
 
 class VulnerableRoadUserCollision(BasicScenario):
     def __init__(

ail_vru_uc1_scenario/cdasim_config/scenario-runner/vru_collision.xml

@@ -17,13 +17,13 @@ limitations under the License.
 -->
 
 <scenarios>
-    <scenario name="VulnerableRoadUserCollision_LeftTurn" type="VulnerableRoadUserCollision" town="Town04">
+    <scenario name="VulnerableRoadUserCollision_ThreeTrucks" type="VulnerableRoadUserCollision" town="Town04">
         <other_actor x="250.38" y="-179.00" z="1.0" model="walker.pedestrian.0002" rolename="crossing_person"/>
         <other_actor x="239.82" y="-173.39" z="0.2" yaw="180.0" model="vehicle.carlamotors.carlacola" rolename="heavy_vehicle_1"/>
         <other_actor x="245.82" y="-173.39" z="0.2" yaw="180.0" model="vehicle.carlamotors.carlacola" rolename="heavy_vehicle_2"/>
         <other_actor x="251.82" y="-175.00" z="0.2" yaw="145.0" model="vehicle.carlamotors.carlacola" rolename="heavy_vehicle_3"/>
     </scenario>
-    <scenario name="VulnerableRoadUserCollision_RightTurn" type="VulnerableRoadUserCollision" town="Town04">
+    <scenario name="VulnerableRoadUserCollision_TrafficSign" type="VulnerableRoadUserCollision" town="Town04">
         <other_actor x="250.38" y="-164.0" z="0.0" yaw="180.0" model="static.prop.trafficwarning" rolename="traffic_sign"/>
         <other_actor x="250.38" y="-164.0" z="0.5" yaw="180.0" model="static.prop.streetbarrier" rolename="streetbarrier"/>
         <other_actor x="250.30" y="-159.8" z="1.0" yaw="0.0" model="walker.pedestrian.0002" rolename="crossing_person"/>

ail_vru_uc1_scenario/cdasim_config/start_simulation

@@ -0,0 +1,15 @@
+#!/bin/bash
+# Script to start simulation
+# Launches RViz
+# Prunes all previous Kafka volumes
+carma stop all
+
+export ROS_MASTER_URI=http://172.3.0.2:11311/
+
+bash -c 'sleep 35 && rviz -d ~/carma_ws/src/carma-platform/carma/rviz/carma_default.rviz' &
+
+docker volume rm \
+  carma_kafka-datavolume \
+  carma_zookeeper-datavolume
+
+carma start all

ail_vru_uc1_scenario/cdasim_config/stop_simulation

@@ -0,0 +1,21 @@
+#!/bin/bash
+# Script to stop simulation.
+# Pulls all Kafka message data
+# Stops and removes all docker containers
+# Prunes all Kafka related volumes
+if ! [ -f /opt/carma-streets/scripts/collect_kafka_logs.py ] ; then
+  echo "Installing collect_kafka_logs.py into /opt/carma-streets/scripts/ ...."
+  wget -q https://raw.githubusercontent.com/usdot-fhwa-stol/carma-streets/release/lavida/collect_kafka_logs.py -P /opt/carma-streets/scripts
+fi
+filename=carma_streets_kafka_"$(date +%F_%H-%M-%S)"
+echo "Collecting CARMA Streets Kafka messages into ${filename}.zip"
+python3 /opt/carma-streets/scripts/collect_kafka_logs.py --zip True "${filename}"
+echo "Stopping simulation ..."
+carma stop all
+# Kafka message volumes retain messages and consumer offsets from previous run
+# Clearing volumes avoids consumer offsets and messages from previous runs impacting
+# current scenario preformance.
+echo "Clearing CARMA Streets Kafka message volumes ..."
+docker volume rm \
+  carma_kafka-datavolume \
+  carma_zookeeper-datavolume

ail_vru_uc1_scenario/docker-compose.yml

@@ -123,9 +123,12 @@ services:
     volumes_from:
       - container:carma-config:ro
     environment:
-      - ROS_IP=172.3.0.6
-      - ROS_MASTER_URI=http://172.3.0.2:11311/
-      - PYTHONUNBUFFERED=1
+      ROS_IP: 172.3.0.6
+      ROS_MASTER_URI: http://172.3.0.2:11311/
+      PYTHONUNBUFFERED: 1
+      VEHICLE_SELECTED_ROUTE: ${VEHICLE_SELECTED_ROUTE}
+      VEHICLE_SPAWN_POINT: ${VEHICLE_SPAWN_POINT}
+
     # sleep is for carla simulator to become available
     # start_delay_in_seconds is carla game time seconds to adjust when to engage for the scenario
     # and account for delay required for world model to fully update after route is selected
@@ -138,9 +141,9 @@ services:
       && roslaunch carma_carla_agent carma_carla_agent.launch
       role_name:='carma_1'
       host:='172.2.0.2'
-      selected_route:='trb2024_left_turn'
+      selected_route:=${VEHICLE_SELECTED_ROUTE}
       start_delay_in_seconds:='35'
-      spawn_point:='215.21,-169.32,0,0,0,0'"
+      spawn_point:=${VEHICLE_SPAWN_POINT}"
 
   ns3_adapter_1:
     image: usdotfhwastolcandidate/carma-ns3-adapter:lavida
@@ -402,6 +405,8 @@ services:
       - carma_sim_net
     depends_on:
       - carma-simulation
+    environment:
+      SIMULATION_SCENARIO: ${SIMULATION_SCENARIO}
     volumes:
       - ./scenario-runner/vru_collision.py:/app/scenario_runner/srunner/scenarios/vru_collision.py
       - ./scenario-runner/vru_collision.xml:/app/scenario_runner/srunner/examples/vru_collision.xml
@@ -411,7 +416,7 @@ services:
     entrypoint: >
       bash -c "sleep 30
       && python3 scenario_runner.py
-      --scenario VulnerableRoadUserCollision_LeftTurn
+      --scenario ${SIMULATION_SCENARIO}
       --record metrics/data/
       --host 172.2.0.2"