Scenario Runner for Dynamic Navigation/Routes

[ribsthakkar]

Is it possible or does anyone have a suggested approach for using ScenarioRunner for non-static routes. I see the route_scenario runner expects a specific route file and then determines which scenarios appear on the fixed route the ego agent is taking. However, I am interested in changing my route as the ego travels through the world or perform route choices such that I decide my route at every intersection, for example. The terminating condition for the scenario would be the case that the agent reaches a location or a set of locations at least once. Therefore, there doesn't need to exist an explicit route where scenarios might occur, but the fact that the agent may run into any scenario in the world if it decides to go near a place a scenario could exist.

Is something like that possible or what are some suggestions you may so that I can use the existing implementations to implement/design something like this?

[fabianoboril]

I think you don't need to have a pre-defined route. You can use the same concept that we use here, but with only one file containing all trigger-points in your town/world. Then, no matter how the ego vehicle drives, when it comes to a trigger point the scenario gets activated.