Integrate the scenario interpreter with the CARLA simulator #114

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

This task involves integrating the selected scenario interpreter with the CARLA simulator. The integration itself might be performed by the simulation WG, in which case the ODD WG will focus on ensuring that the scenarios from SafetyPool can be executed in the interpreter.

Purpose

To establish an initial tool-chain for executing scenarios in CARLA with the intended interpreter.

Possible approaches

For the scenario compatibility, additional implementation of missing OpenSCENARIO features may be done in a fork of the interpreter or with an intermediate scenario conversion tool. Ideally the former is preferred, with the additional features being contributed back to the original repository.

Definition of done

The following must be achieved:

• A scenario from the SafetyPool database can be executed by the interpreter as-is
• The interpreter is integrated with CARLA, ensuring that the required data is transmitted between the two
• Autoware is integrated with CARLA during the scenario execution