Examples of AssignRouteAction in OpenSCENARIO?

Are there any examples of using AssignRouteAction and AcquirePositionAction tag in OpenSCENARIO which have tested already in the latest plugin? I am trying to use this tag to turn left or right in an intersection, but I haven’t yet. There are no examples of these tags in the “examples” directory. https://carla-scenariorunner.readthedocs.io/en/latest/openscenario_support/ saids that these tags are implemented in 0.9.10 (and I checked the source code), so it would be helpful that you provide some example (tested) OpenSCENARIO files.

[Lu7913]

I did some testing on RouteAction, it seems that the vehicle goes straight to the way point, I’m not sure which RouteStrategy ScenarioRunner/Carla supports, if any in terms of openSCENARIO. Since I’m having troubles with WorldPosition (My reference point seems to be wrong, or something), i did this with LanePosition. If you define enough waypoints you can make it work.

This example is vehicle turning in Town04, it works, because of enough waypoints defined. But if you define one waypoint before and one after intersection, vehicle wouldn’t perform turning as it should.

              <Action name="Assign Route">
                <PrivateAction>
                  <RoutingAction>
                    <AssignRouteAction>
                      <Route name="Route 1" closed="false">
                        <Waypoint routeStrategy="shortest">
                          <Position>
                            <LanePosition roadId="10" s="20.0" laneId="1" offset="0.0">
                              <Orientation h="0.0" p="0.0" r="0.0" type="relative"/>
                            </LanePosition>
                          </Position>
                        </Waypoint>
                        <Waypoint routeStrategy="shortest">
                          <Position>
                            <LanePosition roadId="10" s="15.0" laneId="1" offset="0.0">
                              <Orientation h="0.0" p="0.0" r="0.0" type="relative"/>
                            </LanePosition>
                          </Position>
                        </Waypoint>
                        <Waypoint routeStrategy="shortest">
                          <Position>
                            <LanePosition roadId="10" s="10.0" laneId="1" offset="0.0">
                              <Orientation h="0.0" p="0.0" r="0.0" type="relative"/>
                            </LanePosition>
                          </Position>
                        </Waypoint>
                        <Waypoint routeStrategy="shortest">
                          <Position>
                            <LanePosition roadId="10" s="5.0" laneId="1" offset="0.0">
                              <Orientation h="0.0" p="0.0" r="0.0" type="relative"/>
                            </LanePosition>
                          </Position>
                        </Waypoint>
                        <Waypoint routeStrategy="shortest">
                          <Position>
                            <LanePosition roadId="10" s="0.0" laneId="1" offset="0.0">
                              <Orientation h="0.0" p="0.0" r="0.0" type="relative"/>
                            </LanePosition>
                          </Position>
                        </Waypoint>
                        <Waypoint routeStrategy="shortest">
                          <Position>
                            <LanePosition roadId="1465" s="13.0" laneId="1" offset="1.0">
                              <Orientation h="0.0" p="0.0" r="0.0" type="relative"/>
                            </LanePosition>
                          </Position>
                        </Waypoint>
                        <Waypoint routeStrategy="shortest">
                          <Position>
                            <LanePosition roadId="17" s="56.0" laneId="1" offset="0.0">
                              <Orientation h="0.0" p="0.0" r="0.0" type="relative"/>
                            </LanePosition>
                          </Position>
                        </Waypoint>
                        <Waypoint routeStrategy="shortest">
                          <Position>
                            <LanePosition roadId="17" s="50.0" laneId="1" offset="0.0">
                              <Orientation h="0.0" p="0.0" r="0.0" type="relative"/>
                            </LanePosition>
                          </Position>
                        </Waypoint>
                      </Route>
                    </AssignRouteAction>
                  </RoutingAction>
                </PrivateAction>
              </Action>

[fabianoboril]

We just added support to use other routing strategies besides “shortest”. Please see PR #677