Dear all,

I implemented an minimal example to test if the sumo-cr-interface is working fine. The ego vehicle just stays at the initial position for all time steps simulated. The simulation loop runs fine but the video created is somehow messed up.

Can you find out why the video gets messed up and eventually fix the problem?

I attached the code I used and the generated video to make the issue more clear.

Thanks in advance.

"""
Minimal example, plugging in of trajectory planner required.
"""
from sumo2cr.interface.sumo_simulation import SumoSimulation
from sumo2cr.visualization.video import create_video
from scenarios_sumo.a9.scenario_config import Conf as conf
from copy import deepcopy

__author__ = "Moritz Klischat"
__copyright__ = "TUM Cyber-Physical Systems Group"
__credits__ = ["ZIM Projekt ZF4086007BZ8"]
__version__ = "1.0.0"
__maintainer__ = "Moritz Klischat"
__email__ = "commonroad-i06@in.tum.de"
__status__ = "Released"

sumo_sim = SumoSimulation()
sumo_sim.initialize(conf)

output_folder = "/visualization"
print('Starting..')
ego_trajectory =[]

for t in range(conf.simulation_steps):
    print('time step :' +str(t))
    ego_vehicles = sumo_sim.ego_vehicles
    commonroad_scenario = sumo_sim.commonroad_scenario_at_time_step(sumo_sim.current_time_step)
    print(sumo_sim.current_time_step)


    # plan trajectories for all ego vehicles
    for id, ego_vehicle in ego_vehicles.items():
        current_state = ego_vehicle.current_state

        # own implementation for testing - ego vehicle just stays in the initial position
        next_state = deepcopy(current_state)
        next_state.time_step = sumo_sim.current_time_step +1
        ego_trajectory.append(next_state)

        ego_vehicle.set_planned_trajectory(ego_trajectory)

    sumo_sim.simulate_step()

print('Finished')

create_video(sumo_sim, conf.video_start, conf.video_end, output_folder)