Merge branch 'main' into bag_play

CITATION.cff

@@ -17,7 +17,7 @@ title: "Scenario Execution for Robotics"
 date-released: "2024-03-05"
 url: "https://github.com/intellabs/scenario_execution"
 preferred-citation:
-  type: unpublished
+  type: article
   authors:
     - family-names: "Pasch"
       given-names: "Frederik"
@@ -33,4 +33,4 @@ preferred-citation:
       orcid: "https://orcid.org/0000-0001-6337-1798"
   title: "Scenario Execution for Robotics: A generic, backend-agnostic library for running reproducible robotics experiments and tests"
   year: 2024
-  notes: "Submitted for publication, currently under review"
+  url: "https://arxiv.org/abs/2409.07080"

README.md

@@ -17,6 +17,23 @@ Upon arrival of the goal position, the scenario ends and the simulation gets cle
 
 Please find the documentation [here](https://intellabs.github.io/scenario_execution).
 
+## How to cite
+
+If you use Scenario Execution for Robotics in your scientific work, please cite our paper [Scenario Execution for Robotics: A generic, backend-agnostic library for running reproducible robotics experiments and tests](https://arxiv.org/pdf/2409.07080)
+
+```bibtex
+@Article{Pasch2024,
+  author = {Pasch, Frederik and Mirus, Florian and Zhang, Yongzhou and Scholl, Kay-Ulrich},
+  title = {Scenario Execution for Robotics: A generic, backend-agnostic library for running reproducible robotics experiments and tests},
+  journal = {Computing Research Repository (CoRR)},
+  year = {2024},
+  eprint = {2409.07080},
+  archivePrefix = {arXiv},
+  primaryClass = {cs.RO},
+  url = {https://arxiv.org/abs/2409.07080},
+}
+```
+
 ## Setup
 
 ### Installation from source as ROS 2 workspace
@@ -54,3 +71,4 @@ To launch a scenario with ROS2:
 ```bash
 ros2 launch scenario_execution_ros scenario_launch.py scenario:=examples/example_scenario/hello_world.osc live_tree:=True
 ```
+

docs/citation.html

@@ -395,24 +395,27 @@
 <thead><tr><th width="20%">Author</th><th width="30%">Title</th><th width="5%">Year</th><th width="30%">Journal/Proceedings</th><th width="10%">Reftype</th><th width="5%">DOI/URL</th></tr></thead>
 <tbody><tr id="Pasch2024" class="entry">
 	<td>Frederik, P., Mirus, F., Zhang, Y. and Scholl, K.-U.</td>
-	<td>Scenario Execution for Robotics: A generic, backend-agnostic library for running reproducible robotics experiments and tests <p class="infolinks">[<a href="javascript:toggleInfo('Pasch2024','abstract')">Abstract</a>] [<a href="javascript:toggleInfo('Pasch2024','bibtex')">BibTeX</a>]</p></td>
+	<td>Scenario Execution for Robotics: A generic, backend-agnostic library for running reproducible robotics experiments and tests <p class="infolinks">[<a href="javascript:toggleInfo('Pasch2024','abstract')">Abstract</a>] [<a href="javascript:toggleInfo('Pasch2024','bibtex')">BibTeX</a>] [<a href="https://arxiv.org/pdf/2409.07080">Pdf</a>]</p></td> 
 	<td>2024</td>
+	<td>Arxiv</td>
 	<td>&nbsp;</td>
-	<td>unpublished</td>
-	<td><a href="https://github.com/IntelLabs/scenario_execution">URL</a>&nbsp;</td>
+	<td><a href="https://arxiv.org/abs/2409.07080">URL</a>&nbsp;</td>
 </tr>
 <tr id="abs_Pasch2024" class="abstract noshow">
 	<td colspan="6"><b>Abstract</b>: Testing and evaluation of robotics systems is a difficult and oftentimes tedious task due to the systems’ complexity and a lack of tools to conduct reproducible robotics experiments. Additionally, almost all available tools are either tailored towards a specific application domain, simulator or middleware. Particularly scenario-based testing, a common practice in the domain of automated driving, is not sufficiently covered in the robotics domain. In this paper, we propose a novel backend- and middleware-agnostic approach for conducting systematic, reproducible and automatable robotics experiments called Scenario Execution for Robotics. Our approach is implemented as a Python library built on top of the generic scenario description language OpenSCENARIO 2 and Behavior Trees and is made publicly available on GitHub. In extensive experiments, we demonstrate that our approach supports multiple simulators as backend and can be used as a standalone Python-library or as part of the ROS2 ecosystem. Furthermore, we demonstrate how our approach enables testing over ranges of varying values. Finally, we show how Scenario Execution for Robotics allows to move from simulation-based to real-world experiments with minimal adaptations to the scenario description file.</td>
 </tr>
 <tr id="bib_Pasch2024" class="bibtex noshow">
 <td colspan="6"><b>BibTeX</b>:
 <pre>
-@unpublished{Pasch2024,
-  author = {Pasch Frederik and Mirus, Florian and Zhang, Yongzhou and Scholl, Kay-Ulrich},
+@Article{Pasch2024,
+  author = {Pasch, Frederik and Mirus, Florian and Zhang, Yongzhou and Scholl, Kay-Ulrich},
   title = {Scenario Execution for Robotics: A generic, backend-agnostic library for running reproducible robotics experiments and tests},
+  journal = {Computing Research Repository (CoRR)},
   year = {2024},
-  note = {Submitted for publication, currently under review},
-  url = {https://github.com/IntelLabs/scenario_execution}
+  eprint = {2409.07080},
+  archivePrefix = {arXiv},
+  primaryClass = {cs.RO},
+  url = {https://arxiv.org/abs/2409.07080},
 }
 </pre></td>
 </tr>

docs/index.rst

@@ -22,6 +22,11 @@ gets cleaned up.
 
    scenario execution in action
 
+How to cite
+-----------
+
+If you use Scenario Execution for Robotics in your scientific work, please cite our paper `Scenario Execution for Robotics: A generic, backend-agnostic library for running reproducible robotics experiments and tests <https://arxiv.org/pdf/2409.07080>`__. See :doc:`how_to_cite` for the full BibTeX reference.
+
 .. toctree::
    :maxdepth: 2
    :caption: Contents:

test/scenario_execution_test/test/test_external_method.py

@@ -154,3 +154,25 @@ def test_dict(val: test_struct) -> int is external scenario_execution_test.exter
         with open(self.tmp_file.name) as f:
             result = f.read()
         self.assertEqual(result, "{'mem1': 1, 'mem2': 'bar'}")
+
+    def test_success_list_with_method_output(self):
+        scenario_content = """
+struct test_struct:
+    mem1: int = 3
+    mem2: string = "bar"
+    
+struct lib:
+    def test_dict(val: test_struct) -> int is external scenario_execution_test.external_methods.external_methods.test_dict()
+    
+action store_action:
+    file_path: string
+    value: list of string
+    
+scenario test:
+    do store_action('""" + self.tmp_file.name + """', ['test', lib.test_dict(test_struct(mem1: 1, mem2: "bar")), 'prefix' + lib.test_dict(test_struct(mem1: 2, mem2: "foo"))])
+"""
+        self.execute(scenario_content)
+        self.assertTrue(self.scenario_execution.process_results())
+        with open(self.tmp_file.name) as f:
+            result = f.read()
+        self.assertEqual(result, "['test', \"{'mem1': 1, 'mem2': 'bar'}\", \"prefix{'mem1': 2, 'mem2': 'foo'}\"]")