An error when I run the "Tutorial: Reachable Set Computation" demo--"Missing key general"

Zhaoyan.Huang · April 2, 2023, 3:11pm

> # add root folder to Python interpreter's path
> import os
> import sys
> 
> sys.path.append("../")
> path="/home/hzy/PycharmProjects/pythonProject_py39/commonroad-reach/"
> import commonroad_reach.utility.logger as util_logger
> from commonroad_reach.data_structure.configuration_builder import ConfigurationBuilder
> from commonroad_reach.data_structure.reach.reach_interface import ReachableSetInterface
> from commonroad_reach.utility import visualization as util_visual
> 
> # ==== specify scenario
> name_scenario = 'ARG_Carcarana-1_1_1'
> 
> # ==== build configuration
> config = ConfigurationBuilder.build_configuration(name_scenario)
> config.update()
> logger = util_logger.initialize_logger(config)
> config.print_configuration_summary()
> 
> # ==== compute reachable sets using reachability interface
> reach_interface = ReachableSetInterface(config)
> reach_interface.compute_reachable_sets()
> 
> # ==== plot computation results and save as gifs
> util_visual.plot_scenario_with_reachable_sets(reach_interface, figsize=(7, 7))

Run imformation as follows,

> /home/hzy/anaconda3/envs/py39/bin/python3.9 /home/hzy/PycharmProjects/pythonProject_py39/Tutorial: Reachable Set Computation.py 
> Traceback (most recent call last):
>   File "/home/hzy/PycharmProjects/pythonProject_py39/Tutorial: Reachable Set Computation.py", line 16, in <module>
>     config = ConfigurationBuilder.build_configuration(name_scenario)
>   File "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/data_structure/configuration_builder.py", line 35, in build_configuration
>     config_default = cls.construct_default_configuration()
>   File "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/data_structure/configuration_builder.py", line 77, in construct_default_configuration
>     config_default = cls.convert_to_absolute_paths(config_default)
>   File "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/data_structure/configuration_builder.py", line 86, in convert_to_absolute_paths
>     for key, path in config_default["general"].items():
>   File "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/omegaconf/dictconfig.py", line 375, in __getitem__
>     self._format_and_raise(key=key, value=None, cause=e)
>   File "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/omegaconf/base.py", line 231, in _format_and_raise
>     format_and_raise(
>   File "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/omegaconf/_utils.py", line 899, in format_and_raise
>     _raise(ex, cause)
>   File "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/omegaconf/_utils.py", line 797, in _raise
>     raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
>   File "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/omegaconf/dictconfig.py", line 369, in __getitem__
>     return self._get_impl(key=key, default_value=_DEFAULT_MARKER_)
>   File "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/omegaconf/dictconfig.py", line 442, in _get_impl
>     node = self._get_child(
>   File "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/omegaconf/basecontainer.py", line 73, in _get_child
>     child = self._get_node(
>   File "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/omegaconf/dictconfig.py", line 480, in _get_node
>     raise ConfigKeyError(f"Missing key {key!s}")
> **omegaconf.errors.ConfigKeyError: Missing key general**
>     full_key: general
>     object_type=dict
> 
> Process finished with exit code 1

Looking forward to your reply, thanks!

Edmond · April 3, 2023, 7:26am

Hi Zhaoyan,

The error is related to not finding the config files.

Have you added the root path using PyCharm? You can find it under File → Settings → Python Interpreter → Click on the drop-down bar and select “show all” → Show interpreter paths → Add
If you have installed the package locally, you could manually copy the configuration/ folder to "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/"

Zhaoyan.Huang · April 3, 2023, 11:40am

Hi Edmond,
Thanks for your suggestions! However, I have tried both two methods, the error still exits.

Is there a problem with the installation process

(py39) hzy@hzy-ROG:~/PycharmProjects/pythonProject_py39/commonroad-reach$ CRDC_DIR="/home/hzy/PycharmProjects/pythonProject_py39/commonroad-drivability-checker/" pip install -v .
Using pip 22.1.2 from /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/pip (python 3.9)
Processing /home/hzy/PycharmProjects/pythonProject_py39/commonroad-reach
  Running command python setup.py egg_info
  /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/setuptools/dist.py:691: UserWarning: Usage of dash-separated 'description-file' will not be supported in future versions. Please use the underscore name 'description_file' instead
    warnings.warn(
  running egg_info
  creating /tmp/pip-pip-egg-info-pyv72r6u/commonroad_reach.egg-info
  writing /tmp/pip-pip-egg-info-pyv72r6u/commonroad_reach.egg-info/PKG-INFO
  writing dependency_links to /tmp/pip-pip-egg-info-pyv72r6u/commonroad_reach.egg-info/dependency_links.txt
  writing requirements to /tmp/pip-pip-egg-info-pyv72r6u/commonroad_reach.egg-info/requires.txt
  writing top-level names to /tmp/pip-pip-egg-info-pyv72r6u/commonroad_reach.egg-info/top_level.txt
  writing manifest file '/tmp/pip-pip-egg-info-pyv72r6u/commonroad_reach.egg-info/SOURCES.txt'
  reading manifest file '/tmp/pip-pip-egg-info-pyv72r6u/commonroad_reach.egg-info/SOURCES.txt'
  adding license file 'LICENSE.txt'
  writing manifest file '/tmp/pip-pip-egg-info-pyv72r6u/commonroad_reach.egg-info/SOURCES.txt'
  Preparing metadata (setup.py) ... done
Requirement already satisfied: commonroad-io>=2021.3 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-reach==2022.1) (2022.3)
Requirement already satisfied: commonroad-route-planner>=2022.1 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-reach==2022.1) (2022.3)
Requirement already satisfied: omegaconf>=2.1.1 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-reach==2022.1) (2.3.0)
Requirement already satisfied: setuptools>=50.3.2 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-reach==2022.1) (57.0.0)
Requirement already satisfied: numpy>=1.19.2 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-reach==2022.1) (1.21.6)
Requirement already satisfied: shapely>=1.7.0 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-reach==2022.1) (1.8.5.post1)
Requirement already satisfied: enum34>=1.1.10 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-reach==2022.1) (1.1.10)
Requirement already satisfied: imageio>=2.9.0 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-reach==2022.1) (2.9.0)
Requirement already satisfied: seaborn>=0.10.0 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-reach==2022.1) (0.12.2)
Requirement already satisfied: matplotlib>=3.3.3 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-reach==2022.1) (3.3.4)
Requirement already satisfied: scipy>=1.4.1 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-reach==2022.1) (1.6.0)
Requirement already satisfied: networkx>=2.5 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-reach==2022.1) (3.0)
Requirement already satisfied: opencv-python>=4.5 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-reach==2022.1) (4.7.0.72)
Requirement already satisfied: lxml>=4.2.2 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-io>=2021.3->commonroad-reach==2022.1) (4.9.2)
Requirement already satisfied: iso3166>=1.0.1 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-io>=2021.3->commonroad-reach==2022.1) (2.1.1)
Requirement already satisfied: Pillow>=7.0.0 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-io>=2021.3->commonroad-reach==2022.1) (8.3.2)
Requirement already satisfied: tqdm>=4.64 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-io>=2021.3->commonroad-reach==2022.1) (4.65.0)
Requirement already satisfied: rtree>=0.8.3 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-io>=2021.3->commonroad-reach==2022.1) (1.0.1)
Requirement already satisfied: protobuf==3.20.1 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-io>=2021.3->commonroad-reach==2022.1) (3.20.1)
Requirement already satisfied: commonroad-vehicle-models>=2.0.0 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from commonroad-io>=2021.3->commonroad-reach==2022.1) (3.0.2)
Requirement already satisfied: pyparsing!=2.0.4,!=2.1.2,!=2.1.6,>=2.0.3 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from matplotlib>=3.3.3->commonroad-reach==2022.1) (3.0.9)
Requirement already satisfied: python-dateutil>=2.1 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from matplotlib>=3.3.3->commonroad-reach==2022.1) (2.8.2)
Requirement already satisfied: kiwisolver>=1.0.1 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from matplotlib>=3.3.3->commonroad-reach==2022.1) (1.4.4)
Requirement already satisfied: cycler>=0.10 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from matplotlib>=3.3.3->commonroad-reach==2022.1) (0.11.0)
Requirement already satisfied: PyYAML>=5.1.0 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from omegaconf>=2.1.1->commonroad-reach==2022.1) (5.3.1)
Requirement already satisfied: antlr4-python3-runtime==4.9.* in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from omegaconf>=2.1.1->commonroad-reach==2022.1) (4.9.3)
Requirement already satisfied: pandas>=0.25 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from seaborn>=0.10.0->commonroad-reach==2022.1) (1.5.3)
Requirement already satisfied: pytz>=2020.1 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from pandas>=0.25->seaborn>=0.10.0->commonroad-reach==2022.1) (2022.7)
Requirement already satisfied: six>=1.5 in /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages (from python-dateutil>=2.1->matplotlib>=3.3.3->commonroad-reach==2022.1) (1.16.0)
Building wheels for collected packages: commonroad-reach
  Running command python setup.py bdist_wheel
  /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/setuptools/dist.py:691: UserWarning: Usage of dash-separated 'description-file' will not be supported in future versions. Please use the underscore name 'description_file' instead
    warnings.warn(
  running bdist_wheel
  running build
  running build_py
  copying commonroad_reach/data_structure/configuration_builder.py -> build/lib.linux-x86_64-3.9/commonroad_reach/data_structure
  running egg_info
  writing commonroad_reach.egg-info/PKG-INFO
  writing dependency_links to commonroad_reach.egg-info/dependency_links.txt
  writing requirements to commonroad_reach.egg-info/requires.txt
  writing top-level names to commonroad_reach.egg-info/top_level.txt
  reading manifest file 'commonroad_reach.egg-info/SOURCES.txt'
  adding license file 'LICENSE.txt'
  writing manifest file 'commonroad_reach.egg-info/SOURCES.txt'
  running build_ext
  cmake: /home/hzy/anaconda3/lib/libcurl.so.4: no version information available (required by cmake)
  ['-DPYTHON_INCLUDE_DIR=/home/hzy/anaconda3/envs/py39/include/python3.9', '-DPYTHON_EXECUTABLE=/home/hzy/anaconda3/envs/py39/bin/python', '-DCRDC_DIR=/home/hzy/PycharmProjects/pythonProject_py39/commonroad-drivability-checker/', '-DPYTHON_VER=3.9', '-DADD_TESTS=OFF', '-DCMAKE_BUILD_TYPE=Release']
  ['--config', 'Release']
  cmake: /home/hzy/anaconda3/lib/libcurl.so.4: no version information available (required by cmake)
  -- pybind11 v2.6.3 dev1
  -- Found python bindings for pycrreach.
  -- Configuring done
  -- Generating done
  -- Build files have been written to: /home/hzy/PycharmProjects/pythonProject_py39/commonroad-reach/build/temp.linux-x86_64-3.9
  cmake: /home/hzy/anaconda3/lib/libcurl.so.4: no version information available (required by cmake)
  /usr/bin/cmake: /home/hzy/anaconda3/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
  /usr/bin/cmake: /home/hzy/anaconda3/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
  /bin/sh: /home/hzy/anaconda3/lib/libtinfo.so.6: no version information available (required by /bin/sh)
  /usr/bin/cmake: /home/hzy/anaconda3/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
  /bin/sh: /home/hzy/anaconda3/lib/libtinfo.so.6: no version information available (required by /bin/sh)
  /usr/bin/cmake: /home/hzy/anaconda3/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
  [ 45%] Built target example
  /bin/sh: /home/hzy/anaconda3/lib/libtinfo.so.6: no version information available (required by /bin/sh)
  /usr/bin/cmake: /home/hzy/anaconda3/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
  /bin/sh: /home/hzy/anaconda3/lib/libtinfo.so.6: no version information available (required by /bin/sh)
  /usr/bin/cmake: /home/hzy/anaconda3/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
  [100%] Built target pycrreach
  /usr/bin/cmake: /home/hzy/anaconda3/lib/libcurl.so.4: no version information available (required by /usr/bin/cmake)
  installing to build/bdist.linux-x86_64/wheel
  running install
  running install_lib
  creating build/bdist.linux-x86_64/wheel
  creating build/bdist.linux-x86_64/wheel/commonroad_reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/__version__.py -> build/bdist.linux-x86_64/wheel/commonroad_reach
  creating build/bdist.linux-x86_64/wheel/commonroad_reach/utility
  copying build/lib.linux-x86_64-3.9/commonroad_reach/utility/logger.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/utility
  copying build/lib.linux-x86_64-3.9/commonroad_reach/utility/geometry.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/utility
  copying build/lib.linux-x86_64-3.9/commonroad_reach/utility/sweep_line.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/utility
  copying build/lib.linux-x86_64-3.9/commonroad_reach/utility/general.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/utility
  copying build/lib.linux-x86_64-3.9/commonroad_reach/utility/reach_operation.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/utility
  copying build/lib.linux-x86_64-3.9/commonroad_reach/utility/coordinate_system.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/utility
  copying build/lib.linux-x86_64-3.9/commonroad_reach/utility/visualization.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/utility
  copying build/lib.linux-x86_64-3.9/commonroad_reach/utility/__init__.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/utility
  copying build/lib.linux-x86_64-3.9/commonroad_reach/utility/configuration.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/utility
  copying build/lib.linux-x86_64-3.9/commonroad_reach/extract_driving_corridors.py -> build/bdist.linux-x86_64/wheel/commonroad_reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/compute_reachable_set.py -> build/bdist.linux-x86_64/wheel/commonroad_reach
  creating build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure
  creating build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure/reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/reach/reach_set_py.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure/reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/reach/reach_interface.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure/reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/reach/reach_set_py_graph_offline.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure/reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/reach/reach_set.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure/reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/reach/reach_vertex.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure/reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/reach/reach_set_py_graph_online.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure/reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/reach/reach_set_cpp.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure/reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/reach/reach_line.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure/reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/reach/reach_polygon.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure/reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/reach/driving_corridor.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure/reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/reach/reach_node.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure/reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/reach/driving_corridor_extractor.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure/reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/reach/__init__.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure/reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/segment_tree.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/configuration_builder.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/collision_checker.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/regular_grid.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/__init__.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure
  copying build/lib.linux-x86_64-3.9/commonroad_reach/data_structure/configuration.py -> build/bdist.linux-x86_64/wheel/commonroad_reach/data_structure
  copying build/lib.linux-x86_64-3.9/commonroad_reach/pycrreach.cpython-39-x86_64-linux-gnu.so -> build/bdist.linux-x86_64/wheel/commonroad_reach
  copying build/lib.linux-x86_64-3.9/commonroad_reach/__init__.py -> build/bdist.linux-x86_64/wheel/commonroad_reach
  running install_egg_info
  Copying commonroad_reach.egg-info to build/bdist.linux-x86_64/wheel/commonroad_reach-2022.1-py3.9.egg-info
  running install_scripts
  adding license file "LICENSE.txt" (matched pattern "LICEN[CS]E*")
  creating build/bdist.linux-x86_64/wheel/commonroad_reach-2022.1.dist-info/WHEEL
  creating '/tmp/pip-wheel-a30yds0x/commonroad_reach-2022.1-cp39-cp39-linux_x86_64.whl' and adding 'build/bdist.linux-x86_64/wheel' to it
  adding 'commonroad_reach/__init__.py'
  adding 'commonroad_reach/__version__.py'
  adding 'commonroad_reach/compute_reachable_set.py'
  adding 'commonroad_reach/extract_driving_corridors.py'
  adding 'commonroad_reach/pycrreach.cpython-39-x86_64-linux-gnu.so'
  adding 'commonroad_reach/data_structure/__init__.py'
  adding 'commonroad_reach/data_structure/collision_checker.py'
  adding 'commonroad_reach/data_structure/configuration.py'
  adding 'commonroad_reach/data_structure/configuration_builder.py'
  adding 'commonroad_reach/data_structure/regular_grid.py'
  adding 'commonroad_reach/data_structure/segment_tree.py'
  adding 'commonroad_reach/data_structure/reach/__init__.py'
  adding 'commonroad_reach/data_structure/reach/driving_corridor.py'
  adding 'commonroad_reach/data_structure/reach/driving_corridor_extractor.py'
  adding 'commonroad_reach/data_structure/reach/reach_interface.py'
  adding 'commonroad_reach/data_structure/reach/reach_line.py'
  adding 'commonroad_reach/data_structure/reach/reach_node.py'
  adding 'commonroad_reach/data_structure/reach/reach_polygon.py'
  adding 'commonroad_reach/data_structure/reach/reach_set.py'
  adding 'commonroad_reach/data_structure/reach/reach_set_cpp.py'
  adding 'commonroad_reach/data_structure/reach/reach_set_py.py'
  adding 'commonroad_reach/data_structure/reach/reach_set_py_graph_offline.py'
  adding 'commonroad_reach/data_structure/reach/reach_set_py_graph_online.py'
  adding 'commonroad_reach/data_structure/reach/reach_vertex.py'
  adding 'commonroad_reach/utility/__init__.py'
  adding 'commonroad_reach/utility/configuration.py'
  adding 'commonroad_reach/utility/coordinate_system.py'
  adding 'commonroad_reach/utility/general.py'
  adding 'commonroad_reach/utility/geometry.py'
  adding 'commonroad_reach/utility/logger.py'
  adding 'commonroad_reach/utility/reach_operation.py'
  adding 'commonroad_reach/utility/sweep_line.py'
  adding 'commonroad_reach/utility/visualization.py'
  adding 'commonroad_reach-2022.1.dist-info/LICENSE.txt'
  adding 'commonroad_reach-2022.1.dist-info/METADATA'
  adding 'commonroad_reach-2022.1.dist-info/WHEEL'
  adding 'commonroad_reach-2022.1.dist-info/top_level.txt'
  adding 'commonroad_reach-2022.1.dist-info/RECORD'
  removing build/bdist.linux-x86_64/wheel
  Building wheel for commonroad-reach (setup.py) ... done
  Created wheel for commonroad-reach: filename=commonroad_reach-2022.1-cp39-cp39-linux_x86_64.whl size=1700573 sha256=9aadb4b482ce564c4a2210a21180a6b751482eab35367c26b9ef04423e4ea712
  Stored in directory: /home/hzy/.cache/pip/wheels/21/d8/98/683f5aaa56aec7e4edcd00c73eafdce8ba59bc7ce1e739a29b
Successfully built commonroad-reach
Installing collected packages: commonroad-reach
  Attempting uninstall: commonroad-reach
    Found existing installation: commonroad-reach 2022.1
    Uninstalling commonroad-reach-2022.1:
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach-2022.1.dist-info/
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/__init__.py
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/__pycache__/
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/__version__.py
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/compute_reachable_set.py
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/data_structure/
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/extract_driving_corridors.py
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/pycrreach.cpython-39-x86_64-linux-gnu.so
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/utility/__init__.py
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/utility/__pycache__/
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/utility/configuration.py
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/utility/coordinate_system.py
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/utility/general.py
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/utility/geometry.py
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/utility/logger.py
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/utility/reach_operation.py
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/utility/sweep_line.py
      Removing file or directory /home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/utility/visualization.py
      Successfully uninstalled commonroad-reach-2022.1
Successfully installed commonroad-reach-2022.1

Blockquote

gerald_w · April 4, 2023, 2:14pm

Hi @Zhaoyan.Huang ,

it seems like a path issues, i.e., that the configuration builder is not detecting the folder with the default configs properly (as Edmond already mentioned). What you could try: the function ConfigurationBuilder.build_configuration(name_scenario) which you call to construct the config can optionally take an argument path_root, which is Ǹone by default. You could set it explicitly to the full path of the root directory of the cloned commonroad_reachable_set repo on your local machine.

Let us know if that worked for you.

Best,
Gerald

Zhaoyan.Huang · April 14, 2023, 9:04am

Hi @gerald_w ,

Thanks for your significant suggestions! The previous issue has been tackled！
However， a new error occur.

# add root folder to Python interpreter's path
import os
import sys

sys.path.append("../")
path="/home/hzy/PycharmProjects/pythonProject_py39/commonroad-reach/"
import commonroad_reach.utility.logger as util_logger
from commonroad_reach.data_structure.configuration_builder import ConfigurationBuilder
from commonroad_reach.data_structure.reach.reach_interface import ReachableSetInterface
from commonroad_reach.utility import visualization as util_visual

# ==== specify scenario
name_scenario = 'ARG_Carcarana-1_1_1'
path_root = '/home/hzy/PycharmProjects/pythonProject_py39/commonroad-reach/'
# ==== build configuration
config = ConfigurationBuilder.build_configuration(name_scenario,path_root)
config.update()
logger = util_logger.initialize_logger(config)
config.print_configuration_summary()

# ==== compute reachable sets using reachability interface
reach_interface = ReachableSetInterface(config)
reach_interface.compute_reachable_sets()

# ==== plot computation results and save as gifs
util_visual.plot_scenario_with_reachable_sets(reach_interface, figsize=(7, 7))

Run imformation as follows,

/home/hzy/anaconda3/envs/py39/bin/python3.9 /home/hzy/PycharmProjects/pythonProject_py39/Tutorial: Reachable Set Computation.py 
# ===== Configuration Summary ===== #
# ARG_Carcarana-1_1_T-1
# Planning:
# 	dt: 0.1
# 	steps: 30
# 	coordinate system: curvilinear
# Vehicle (Ego):
# 	vehicle type id: 2
# 	v: lon_min = -13.9, lon_max = 50.8, lat_min = -4.0, lat_max = 4.0, max = 30.0
# 	a: lon_min = -11.5, lon_max = 11.5, lat_min = -2.0, lat_max = 2.0, max = 8.0
# Reachable set:
# 	computation mode: polytopic, c++ backend
# 	repartition mode: collision check, repartition
# 	inflation mode: inscribed circle
# 	obstacle rasterization: False
# 	grid size: 0.2
# 	split radius: 0.7
# 	prune: True
# 	num threads: 4
# ================================= #
* Computing reachable sets...
	Took: 	0.066s
* Plotting reachable sets...
Traceback (most recent call last):
  File "/home/hzy/PycharmProjects/pythonProject_py39/Tutorial: Reachable Set Computation.py", line 26, in <module>
    util_visual.plot_scenario_with_reachable_sets(reach_interface, figsize=(7, 7))
  File "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad_reach/utility/visualization.py", line 71, in plot_scenario_with_reachable_sets
    scenario.draw(renderer, draw_params={"dynamic_obstacle": {"draw_icon": config.debug.draw_icons},
  File "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad/scenario/scenario.py", line 1188, in draw
    renderer.draw_scenario(self, draw_params)
  File "/home/hzy/anaconda3/envs/py39/lib/python3.9/site-packages/commonroad/visualization/mp_renderer.py", line 425, in draw_scenario
    obj.lanelet_network.draw(self, draw_params.lanelet_network)
AttributeError: 'dict' object has no attribute 'lanelet_network'

Process finished with exit code 1

Looking forward to your reply, thanks!

Zhaoyan.Huang · April 14, 2023, 9:10am

Possible caused by version conflict？

Edmond · April 16, 2023, 2:29pm

could you try with commonroad-io 2022.3? this might just be a plotting issue.

Albanis · June 30, 2023, 3:42am

I also encounter this error and it seems that the pip requirement of commonroad-reach is confusing. A lot of library is out of date.

Can anyone fix the requirements of commonroad-reach or update a new version of it?

gerald_w · June 30, 2023, 8:51am

HI Albanis, we will release a new version of CR-Reach next week, where the requirements are updated to work with the latest CommonRoad version.

Best,
Gerald

Albanis · July 9, 2023, 11:44am

Great! Look forward to the new version

gerald_w · July 26, 2023, 11:55am

Hi Albanis, we have released the new version of CR-Reach (v2023.1) and also made it available as a PyPi package now.

Albanis · July 26, 2023, 12:01pm

Cool! Thank you very much for the update!

Sherlock · September 7, 2023, 3:30am

I have met the same issue like u today, and my solution is to overwrite the “path_scenarios: XXXXX” in the “general.yaml”, which lies in “/home/user/anaconda3/envs/cdc/lib/python3.7/site-packages/commonroad_reach/configurations_default”. I rewrote “path_scenarios” to be the absolute path to the “scenarios” folder, whereas the “general.yaml” shows a relative path, and eventually it worked!

florian_l · September 20, 2023, 3:35pm

Hi Sherlock,

the paths are always relative to your working directory. So, if you are running the tutorial from the tutorials directory, you need to set the root to the parent directory (..).
Thanks for spotting the issue with the tutorial. We will upload a fixed version soon.
For now you can replace config = ConfigurationBuilder().build_configuration(name_scenario) with config = ConfigurationBuilder(path_root="..").build_configuration(name_scenario).

Best,
Florian