LGSVL pedestrian not showing up in Apollo

[YuqiHuai]

Hi! Hope you are doing well!

I have been watching the scenarios in Dreamview when ADFuzz is running and I never see pedestrian being recognized in Apollo.

I am running Apollo 6.0 with the following command

python ga_fuzzing.py --simulator svl --n_gen 1 --pop_size=1 --algorithm_name nsga2-un --rank_mode adv_nn --ego_car_model apollo_6_modular --route_type 'BorregasAve_left' --scenario_type 'turn_left_one_ped_and_one_vehicle'

Is there some setting in Apollo that I need to change to make pedestrian show up in Dreamview? I played some random LGSVL scenario and I see pedestrians being recognized.

[AIasd]

Hi @YuqiHuai ,

This is a known issue of SVL2021.3. You can try an earlier version if you want to use modular testing. The random traffic works because the pedestrians there are implemented differently(in the SVL source code). And unfortunately, this bug won't be fixed by the SVL team since they plan to sunset the simulator. Alternatively, you can also try to fix it by modifying the SVL source code and building from source.

[YuqiHuai]

Thank you for the response!

[diaokaitian]

Hi @YuqiHuai ,

This is a known issue of SVL2021.3. You can try an earlier version if you want to use modular testing. The random traffic works because the pedestrians there are implemented differently(in the SVL source code). And unfortunately, this bug won't be fixed by the SVL team since they plan to sunset the simulator. Alternatively, you can also try to fix it by modifying the SVL source code and building from source.

hello,which version can works ok,except 2020.6?

[AIasd]

Hi @diaokaitian

I believe 2021.3 and 2021.2 do not work. Maybe you can try 2021.1?(I forgot if this one works or not). Also, if you use Apollo with the perception module turned on (i.e., not the modular testing one), the pedestrian should be able to be detected.