scenoRITA for Baidu Apollo v7.0.0

This is an implementation of scenoRITA that supports Baidu Apollo v7.0.0. Please find the most up-to-date version with updates and fixes in our GitHub repository.

Prerequisites

1. Ubuntu 20.04 LTS
2. Docker CE
3. Python Poetry
4. Python 3.11

You can run scripts under data/scripts/install to install the prerequisites.

Running scenoRITA

0. Install prerequisites needed using scripts under data/scripts/install.

1. Install project dependencies via command

   poetry install
   

2. Install Apollo v7.0.0 via command

   poetry run python src/install.py
   

   this command will download a release version of Apollo v7.0.0 and compile necessary modules.

3. Run scenoRITA via command

   poetry run python src/main.py
   

   if you want to run scenoRITA on different maps (e.g., san_mateo), you can add --map=san_mateo to command.

4. To reproduce experiments described in the paper (e.g., running scenoRITA on San Francisco), run

   source run_experiments.sh
   san_francisco
   

After running the command, the output of scenoRITA will be stored under out/{execution_id} and you can find violations detected under out/{execution_id}/violations

Citing

If you use this project in your work, please consider citing the following work

@ARTICLE{scenoRITA,
  author={Huai, Yuqi and Almanee, Sumaya and Chen, Yuntianyi and Wu, Xiafa and Chen, Qi Alfred and Garcia, Joshua},
  journal={IEEE Transactions on Software Engineering}, 
  title={scenoRITA: Generating Diverse, Fully Mutable, Test Scenarios for Autonomous Vehicle Planning}, 
  year={2023},
  volume={49},
  number={10},
  pages={4656-4676},
  keywords={Automobiles;Accidents;Safety;Trajectory;Test pattern generators;Manuals;Web and internet services;Embedded/cyber-physical systems;search-based software engineering;software testing},
  doi={10.1109/TSE.2023.3309610}}

Known Issues

1. CPU overclocking has caused segmentation faults, freezing, and failure to build Apollo. See DoppelTest/Issue#5. Many thanks to Lejin Li from Kyushu University for the investigation.