Add ScenarioRunner scenario for sensorlib integration test (#174)

# PR Details
## Description

This PR adds a new ScenarioRunner scenario to facilitate with
`sensorlib` field of view integration testing.

## Related GitHub Issue

Closes #173 

## Related Jira Key

Progresses [CDAR-368](https://usdot-carma.atlassian.net/browse/CDAR-368)

## Motivation and Context

<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?

Manually verified

## Types of changes

- [x] New feature (non-breaking change that adds functionality)

## Checklist:

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


[CDAR-368]:
https://usdot-carma.atlassian.net/browse/CDAR-368?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ

scenario-runner/examples/sensorlib_lidar_field_of_view.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+
+<!--
+Copyright 2023 Leidos
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+-->
+
+<scenarios>
+    <scenario name="SensorlibLidarFieldOfView_1" type="SensorlibLidarFieldOfView" town="Town04">
+        <ego_vehicle x="203.44" y="-230.0" z="2" yaw="-90.0" model="vehicle.audi.a2" rolename="ego_vehicle"/>
+
+        <other_actor x="214.79" y="-245.61" z="2" model="vehicle.carlamotors.carlacola" rolename="heavy_truck"/>
+        <other_actor x="216.58" y="-248.69" z="2" model="walker.pedestrian.0001" rolename="in_road_person"/>
+        <other_actor x="195.59" y="-254.18" z="2" yaw="90.0" model="walker.pedestrian.0002" rolename="crossing_person"/>
+        <other_actor x="208.58" y="-239.0" z="2" yaw="180.0" model="walker.pedestrian.0003" rolename="corner_person_01"/>
+        <other_actor x="208.58" y="-239.0" z="2" yaw="135.0" model="walker.pedestrian.0004" rolename="corner_person_02"/>
+        <other_actor x="207.88" y="-257.57" z="2" yaw="167.0" model="walker.pedestrian.0005" rolename="corner_person_03"/>
+    </scenario>
+</scenarios>

scenario-runner/scenarios/sensorlib_lidar_field_of_view.py

@@ -0,0 +1,176 @@
+# Copyright 2023 Leidos
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from agents.navigation.global_route_planner import GlobalRoutePlanner
+from agents.navigation.global_route_planner_dao import GlobalRoutePlannerDAO
+
+import carla
+
+import py_trees
+
+from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
+from srunner.scenariomanager.scenarioatomics.atomic_behaviors import (
+    Idle,
+    KeepVelocity,
+    WaypointFollower,
+)
+from srunner.scenariomanager.scenarioatomics.atomic_criteria import CollisionTest
+from srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import (
+    DriveDistance,
+)
+from srunner.scenarios.basic_scenario import BasicScenario
+from srunner.scenarioconfigs.scenario_configuration import ScenarioConfiguration
+
+
+class SensorlibLidarFieldOfView(BasicScenario):
+    def __init__(
+        self,
+        world,
+        ego_vehicles,
+        config: ScenarioConfiguration,
+        randomize: bool = False,
+        debug_mode: bool = False,
+        criteria_enable: bool = True,
+        timeout=60,
+    ) -> None:
+        """
+        :param world: CARLA world in which the scenario is running
+        :param list[carla.Vehicle] ego_vehicles: CARLA vehicle objects created based on scenario XML configuration
+        :param ScenarioConfiguration config: Specifications from scenario XML configuration
+        :param bool randomize:
+        :param bool debug_mode:
+        :param bool criteria_enable:
+        :param float timeout: Threshold (in seconds) after which test automatically fails
+
+        :return: None
+        :rtype: None
+        """
+        # Must be defined before super() call because BasicScenario
+        # references is in its __init__() function.
+        self.timeout = timeout
+
+        super(SensorlibLidarFieldOfView, self).__init__(
+            "SensorlibFieldOfView",
+            ego_vehicles,
+            config,
+            world,
+            debug_mode=debug_mode,
+            criteria_enable=criteria_enable,
+        )
+
+        self.world_map = CarlaDataProvider.get_map()
+
+        # This is where the action takes place
+        spectator = world.get_spectator()
+        spectator.set_transform(
+            carla.Transform(
+                carla.Location(187.8024, -227.3753, 16.9967),
+                carla.Rotation(-38.1110, -39.1415, 0.0),
+            )
+        )
+
+        self.carma_vehicle = ego_vehicles[0]
+        self.other_actors_dict = {}
+
+    def _initialize_actors(self, config: ScenarioConfiguration) -> None:
+        """
+        Note: this function overrides the one in BasicScenario (parent
+        class), so this override is responsible for adding the actors
+        defined in the scenario XML configuration.
+
+        :param ScenarioConfiguration config: Specifications from
+        scenario XML configuration
+        :return: None
+        """
+        actors = CarlaDataProvider.request_new_actors(config.other_actors)
+
+        self.other_actors_dict = {
+            actor_config.rolename: actor
+            for actor_config, actor in zip(config.other_actors, actors)
+        }
+
+    def _setup_scenario_trigger(self, _: ScenarioConfiguration) -> None:
+        """
+        Set up the scenario start trigger
+
+        Note: this function overrides the abstract one in the
+        BasicScenario parent class. The base class's implementation adds
+        a trigger that prevents the scenario from starting until the
+        ego vehicle drives some distance. We don't want that trigger
+        for this scenario because the ego vehicle will not move. Override this
+        function to create custom scenario start triggers. Follow this link
+        for more information:
+        https://carla-scenariorunner.readthedocs.io/en/latest/creating_new_scenario/
+
+        :return: None
+        """
+        pass
+
+    def _create_behavior(self):
+        """
+        Setup the behavior for NewScenario
+
+        Note: this function overrides the abstract one in the
+        BasicScenario parent class.
+
+        :return: Behavior tree root
+        """
+        start_condition = Idle(5, name="start_condition")
+
+        crossing_person = self.other_actors_dict["crossing_person"]
+        walk_across_street = KeepVelocity(
+            crossing_person, 2.0, 8.0, name="walk_across_street"
+        )
+
+        dao = GlobalRoutePlannerDAO(CarlaDataProvider.get_map(), 2)
+        global_route_planner = GlobalRoutePlanner(dao)
+        global_route_planner.setup()
+
+        carma_vehicle = self.ego_vehicles[0]
+        route = global_route_planner.trace_route(
+            carma_vehicle.get_location(),
+            carla.Location(x=205.044693, y=-298.390015, z=0.019592),
+        )
+
+        drive_through_intersection = WaypointFollower(carma_vehicle, 5, route)
+
+        actor_behaviors = py_trees.composites.Parallel(name="actor_behaviors")
+        actor_behaviors.add_child(walk_across_street)
+        actor_behaviors.add_child(drive_through_intersection)
+
+        end_condition = DriveDistance(carma_vehicle, 10)
+
+        root = py_trees.composites.Sequence(name="root_sequence")
+        root.add_child(start_condition)
+        root.add_child(actor_behaviors)
+        root.add_child(end_condition)
+
+        return root
+
+    def _create_test_criteria(self) -> list:
+        """
+        Setup the evaluation criteria for NewScenario
+
+        Note: this function overrides the one in BasicScenario (parent class).
+
+        :return: List of test criteria
+        """
+        return [
+            # This is an example usage for including test criteria in
+            # ScenarioRunner.
+            # CollisionTest(self.carma_vehicle)
+        ]
+
+    def __del__(self):
+        self.remove_all_actors()