Fix dead actor accumulation in CDP

srunner/scenariomanager/carla_data_provider.py

@@ -137,18 +137,24 @@ def on_carla_tick():
         Callback from CARLA
         """
         with CarlaDataProvider._lock:
-            for actor in CarlaDataProvider._actor_velocity_map:
+            for actor in CarlaDataProvider._actor_velocity_map.copy():
                 if actor is not None and actor.is_alive:
                     CarlaDataProvider._actor_velocity_map[actor] = calculate_velocity(actor)
+                else:
+                    del CarlaDataProvider._actor_velocity_map[actor]
 
-            for actor in CarlaDataProvider._actor_location_map:
+            for actor in CarlaDataProvider._actor_location_map.copy():
                 if actor is not None and actor.is_alive:
                     CarlaDataProvider._actor_location_map[actor] = actor.get_location()
+                else:
+                    del CarlaDataProvider._actor_location_map[actor]
 
-            for actor in CarlaDataProvider._actor_transform_map:
+            for actor in CarlaDataProvider._actor_transform_map.copy():
                 if actor is not None and actor.is_alive:
                     CarlaDataProvider._actor_transform_map[actor] = actor.get_transform()
-
+                else:
+                    del CarlaDataProvider._actor_transform_map[actor]
+
             world = CarlaDataProvider._world
             if world is None:
                 print("WARNING: CarlaDataProvider couldn't find the world")
@@ -1003,11 +1009,12 @@ def remove_actor_by_id(actor_id):
         Remove an actor from the pool using its ID
         """
         if actor_id in CarlaDataProvider._carla_actor_pool:
-            CarlaDataProvider._carla_actor_pool[actor_id].destroy()
-            CarlaDataProvider._carla_actor_pool[actor_id] = None # type: ignore
+            was_destroyed = CarlaDataProvider._carla_actor_pool[actor_id].destroy()
+            CarlaDataProvider._carla_actor_pool[actor_id] = None
             CarlaDataProvider._carla_actor_pool.pop(actor_id)
-        else:
-            print("Trying to remove a non-existing actor id {}".format(actor_id))
+            return was_destroyed
+        print("Trying to remove a non-existing actor id {}".format(actor_id))
+        return None    
 
     @staticmethod
     def remove_actors_in_surrounding(location, distance):

srunner/scenariomanager/scenarioatomics/atomic_behaviors.py

@@ -3471,7 +3471,7 @@ def update(self):
                     sensor.stop()
                     sensor.destroy()
                 self._collision_sensor_list.remove(sensor)
-                actor.destroy()
+                CarlaDataProvider.remove_actor_by_id(actor.id)
                 self._actor_list.remove(actor)
 
         # Spawn new actors if needed
@@ -3519,7 +3519,7 @@ def terminate(self, new_status):
             actor.set_target_velocity(carla.Vector3D(0,0,0))
             actor.set_target_angular_velocity(carla.Vector3D(0,0,0))
             try:
-                actor.destroy()
+                CarlaDataProvider.remove_actor_by_id(actor.id)
             except RuntimeError:
                 pass  # Actor was already destroyed
 
@@ -3635,7 +3635,7 @@ def update(self):
                 continue
             sink_distance = self._sink_location.distance(location)
             if sink_distance < self._sink_dist:
-                actor.destroy()
+                CarlaDataProvider.remove_actor_by_id(actor.id)
                 self._actor_list.remove(actor_data)
             else:
                 actor.apply_control(controller.run_step())
@@ -3668,7 +3668,7 @@ def terminate(self, new_status):
             actor.set_target_velocity(carla.Vector3D(0,0,0))
             actor.set_target_angular_velocity(carla.Vector3D(0,0,0))
             try:
-                actor.destroy()
+                CarlaDataProvider.remove_actor_by_id(actor.id)
             except RuntimeError:
                 pass  # Actor was already destroyed
 
@@ -3750,7 +3750,7 @@ def update(self):
                 continue
             sink_distance = self._sink_location.distance(location)
             if sink_distance < self._sink_dist:
-                actor.destroy()
+                CarlaDataProvider.remove_actor_by_id(actor.id)
                 self._actor_list.remove(actor_data)
             else:
                 actor.apply_control(controller.run_step())
@@ -3783,7 +3783,7 @@ def terminate(self, new_status):
             actor.set_target_velocity(carla.Vector3D(0,0,0))
             actor.set_target_angular_velocity(carla.Vector3D(0,0,0))
             try:
-                actor.destroy()
+                CarlaDataProvider.remove_actor_by_id(actor.id)
             except RuntimeError:
                 pass  # Actor was already destroyed
 
@@ -3889,7 +3889,7 @@ def update(self):
                 continue
             sink_distance = self._sink_location.distance(location)
             if sink_distance < self._sink_dist:
-                actor.destroy()
+                CarlaDataProvider.remove_actor_by_id(actor.id)
                 self._actor_data.remove(actor_data)
             else:
                 actor.apply_control(controller.run_step())
@@ -3926,7 +3926,7 @@ def terminate(self, new_status):
             actor.set_target_velocity(carla.Vector3D(0,0,0))
             actor.set_target_angular_velocity(carla.Vector3D(0,0,0))
             try:
-                actor.destroy()
+                CarlaDataProvider.remove_actor_by_id(actor.id)
             except RuntimeError:
                 pass  # Actor was already destroyed
 
@@ -4725,7 +4725,7 @@ def update(self):
     def _destroy_walker(self, walker, controller):
         controller.stop()
         controller.destroy()
-        walker.destroy()
+        CarlaDataProvider.remove_actor_by_id(walker.id)
 
     def terminate(self, new_status):
         """
@@ -4805,7 +4805,7 @@ def _destroy_walker(self, walker, controller):
             controller.stop()
             controller.destroy()
         if walker:
-            walker.destroy()
+            CarlaDataProvider.remove_actor_by_id(walker.id)
 
     def terminate(self, new_status):
         """

srunner/scenarios/background_activity.py

@@ -2549,7 +2549,7 @@ def _destroy_actor(self, actor):
         self._remove_actor_info(actor)
         try:
             actor.set_autopilot(False, self._tm_port)
-            actor.destroy()
+            CarlaDataProvider.remove_actor_by_id(actor.id)
         except RuntimeError:
             pass
 

srunner/scenarios/basic_scenario.py

@@ -171,6 +171,14 @@ def _initialize_actors(self, config):
 
             for new_actor in new_actors:
                 self.other_actors.append(new_actor)
+
+    def _destroy_other_actors(self):
+        """
+        Remove all actors upon deletion
+        """
+        for actor in self.other_actors:
+            if CarlaDataProvider.remove_actor_by_id(actor.id) is None:
+                actor.destroy()
 
     def _setup_scenario_trigger(self, config):
         """

srunner/scenarios/cut_in_with_static_vehicle.py

@@ -95,8 +95,7 @@ def _initialize_actors(self, config):
             # Move to the side
             side_wp = blocker_wp.get_left_lane() if self._direction == 'left' else blocker_wp.get_right_lane()
             if not side_wp:
-                for actor in self.other_actors:
-                    actor.destroy()
+                self._destroy_other_actors()
                 raise ValueError("Couldn't find a proper position for the cut in vehicle")
 
             if i == 1:
@@ -106,8 +105,7 @@ def _initialize_actors(self, config):
             blocker_actor = CarlaDataProvider.request_new_actor(
                 'vehicle.*', side_wp.transform, 'scenario', attribute_filter=self._attributes)
             if not blocker_actor:
-                for actor in self.other_actors:
-                    actor.destroy()
+                self._destroy_other_actors()
                 raise ValueError("Couldn't spawn an actor")
             blocker_actor.apply_control(carla.VehicleControl(hand_brake=True))
 
@@ -119,8 +117,7 @@ def _initialize_actors(self, config):
             # Move to the front
             next_wps = blocker_wp.next(self._vehicle_gap)
             if not next_wps:
-                for actor in self.other_actors:
-                    actor.destroy()
+                self._destroy_other_actors()
                 raise ValueError("Couldn't find a proper position for the cut in vehicle")
             blocker_wp = next_wps[0]
 
@@ -132,8 +129,7 @@ def _initialize_actors(self, config):
         while dist < self._adversary_end_distance:
             next_wps = next_wp.next(step)
             if not next_wps:
-                for actor in self.other_actors:
-                    actor.destroy()
+                self._destroy_other_actors()
                 raise ValueError("Couldn't find a proper position for the cut in vehicle")
             next_wp = next_wps[0]
             self._plan.append([next_wp, RoadOption.STRAIGHT])
@@ -143,15 +139,13 @@ def _initialize_actors(self, config):
         # Spawn the cut in vehicle
         side_wp = blocker_wp.get_left_lane() if self._direction == 'left' else blocker_wp.get_right_lane()
         if not side_wp:
-            for actor in self.other_actors:
-                actor.destroy()
+            self._destroy_other_actors()
             raise ValueError("Couldn't find a proper position for the cut in vehicle")
 
         self._adversary_actor = CarlaDataProvider.request_new_actor(
             'vehicle.*', side_wp.transform, 'scenario', attribute_filter=self._attributes)
         if not self._adversary_actor:
-            for actor in self.other_actors:
-                actor.destroy()
+            self._destroy_other_actors()
             raise ValueError("Couldn't spawn an actor")
 
         self._adversary_actor.set_simulate_physics(False)
@@ -165,8 +159,7 @@ def _initialize_actors(self, config):
         # Move to the front
         next_wps = blocker_wp.next(self._vehicle_gap)
         if not next_wps:
-            for actor in self.other_actors:
-                actor.destroy()
+            self._destroy_other_actors()
             raise ValueError("Couldn't find a proper position for the cut in vehicle")
         blocker_wp = next_wps[0]
 
@@ -175,16 +168,14 @@ def _initialize_actors(self, config):
             # Move to the side
             side_wp = blocker_wp.get_left_lane() if self._direction == 'left' else blocker_wp.get_right_lane()
             if not side_wp:
-                for actor in self.other_actors:
-                    actor.destroy()
+                self._destroy_other_actors()
                 raise ValueError("Couldn't find a proper position for the cut in vehicle")
 
             # Spawn the actor
             blocker_actor = CarlaDataProvider.request_new_actor(
                 'vehicle.*', side_wp.transform, 'scenario', attribute_filter=self._attributes)
             if not blocker_actor:
-                for actor in self.other_actors:
-                    actor.destroy()
+                self._destroy_other_actors()
                 raise ValueError("Couldn't spawn an actor")
             blocker_actor.apply_control(carla.VehicleControl(hand_brake=True))
 
@@ -196,8 +187,7 @@ def _initialize_actors(self, config):
             # Move to the front
             next_wps = blocker_wp.next(self._vehicle_gap)
             if not next_wps:
-                for actor in self.other_actors:
-                    actor.destroy()
+                self._destroy_other_actors()
                 raise ValueError("Couldn't find a proper position for the cut in vehicle")
             blocker_wp = next_wps[0]
 

srunner/scenarios/object_crash_intersection.py

@@ -417,7 +417,7 @@ def __del__(self):
     def _replace_walker(self, adversary):
         """As the adversary is probably, replace it with another one"""
         type_id = adversary.type_id
-        adversary.destroy()
+        CarlaDataProvider.remove_actor_by_id(adversary.id)
         spawn_transform = self.ego_vehicles[0].get_transform()
         spawn_transform.location.z -= 50
         adversary = CarlaDataProvider.request_new_actor(type_id, spawn_transform)

srunner/scenarios/object_crash_vehicle.py

@@ -266,7 +266,7 @@ def _initialize_actors(self, config):
             self._adversary_transform = self._get_sidewalk_transform(walker_wp, offset)
             adversary = CarlaDataProvider.request_new_actor('walker.*', self._adversary_transform)
             if adversary is None:
-                blocker.destroy()
+                CarlaDataProvider.remove_actor_by_id(blocker.id)
                 self._number_of_attempts -= 1
                 move_dist = self._retry_dist
                 print("Failed to spawn an adversary")
@@ -350,7 +350,7 @@ def __del__(self):
     def _replace_walker(self, adversary):
         """As the adversary is probably, replace it with another one"""
         type_id = adversary.type_id
-        adversary.destroy()
+        CarlaDataProvider.remove_actor_by_id(adversary.id)
         spawn_transform = self.ego_vehicles[0].get_transform()
         spawn_transform.location.z -= 50
         adversary = CarlaDataProvider.request_new_actor(type_id, spawn_transform)
@@ -557,7 +557,7 @@ def __del__(self):
     def _replace_walker(self, walker):
         """As the adversary is probably, replace it with another one"""
         type_id = walker.type_id
-        walker.destroy()
+        CarlaDataProvider.remove_actor_by_id(walker.id)
         spawn_transform = self.ego_vehicles[0].get_transform()
         spawn_transform.location.z -= 50
         walker = CarlaDataProvider.request_new_actor(type_id, spawn_transform)

srunner/scenarios/parking_exit.py

@@ -140,7 +140,7 @@ def _initialize_actors(self, config):
         actor_behind = CarlaDataProvider.request_new_actor(
             'vehicle.*', behind_points[0].transform, rolename='scenario no lights', attribute_filter=self._bp_attributes)
         if actor_behind is None:
-            actor_front.destroy()
+            CarlaDataProvider.remove_actor_by_id(actor_front.id)
             raise ValueError("Couldn't spawn the vehicle behind the parking point")
         actor_behind.apply_control(carla.VehicleControl(hand_brake=True))
         self.other_actors.append(actor_behind)

srunner/scenarios/pedestrian_crossing.py

@@ -130,8 +130,7 @@ def _initialize_actors(self, config):
             spawn_transform = self._get_walker_transform(start_wp, walker_data)
             walker = CarlaDataProvider.request_new_actor('walker.*', spawn_transform)
             if walker is None:
-                for walker in self.other_actors:
-                    walker.destroy()
+                self._destroy_other_actors()
                 raise ValueError("Failed to spawn an adversary")
 
             walker.set_location(spawn_transform.location + carla.Location(z=-200))
@@ -220,7 +219,7 @@ def __del__(self):
     def _replace_walker(self, walker):
         """As the adversary is probably, replace it with another one"""
         type_id = walker.type_id
-        walker.destroy()
+        CarlaDataProvider.remove_actor_by_id(walker.id)
         spawn_transform = self.ego_vehicles[0].get_transform()
         spawn_transform.location.z -= 50
         walker = CarlaDataProvider.request_new_actor(type_id, spawn_transform)