20250529_aa228v_final-project.md

✅ Autonomous Vehicle Risk Assessment Framework, Installation in Windows 11

Repo:
https://github.com/sisl/AutonomousRiskFramework.jl

Environment:
Windows 11, VS Code, Miniconda, Jalia 1.11.5, CARLA 0.9.13, scenario_runner 0.9.13

---

• Set up julia command in the PowerShell temporarily or persistently.

Set-Alias julia "D:\software\julia-1.11.5-win64\julia-1.11.5\bin\julia.exe"   

Or run notepad $PROFILE, add the following lines.

Set-Alias julia "D:\software\julia-1.11.5-win64\julia-1.11.5\bin\julia.exe"
Write-Host "Custom profile loaded."

• On GitHub, fork the POMDPStressTesting.jl repo to
  https://github.com/nov05/Stanford-POMDPStressTesting.jl
  Then modify the Project.toml file, relax the version requirements for CUDA and Flux.

[compat]
# CUDA = "3"
CUDA = "3, 4, 5"  ## Nov05
# Flux = "0.10, 0.11, 0.12, 0.13"
Flux = "0.10, 0.11, 0.12, 0.13, 0.14"  ## Nov05

• On GitHub, fork the AutonomousRiskFramework.jl repo.
  In Windows PowerShell, git clone the repo to the local machine.

cd D:\\github  
git clone https://github.com/nov05/Stanford-AutonomousRiskFramework.jl.git  
cd Stanford-AutonomousRiskFramework.jl   

• Add the following lines in the /Stanford-AutonomousRiskFramework.jl/install.jl file.

packages = [
    ## Nov05 2025-05-31
    PackageSpec(url="https://github.com/nov05/Stanford-POMDPStressTesting.jl")
]
...
Pkg.add("cuDNN")

• Install CARLA
  Download CARLA_0.9.13.zip for Windows 11 from https://github.com/carla-simulator/carla/releases/tag/0.9.13
  Exact to D:\software and add system variable UE4_ROOT = D:\software\CARLA_0.9.13
  Install DirectX 9.29.1974.1 ✅
  Verify the installation by run "D:\software\CARLA_0.9.13\WindowsNoEditor\CarlaUE4.exe".
  You are supposed to see the following window.
  
  Install scenario_runner 0.9.13

  cd D:\software\CARLA_0.9.13\WindowsNoEditor\PythonAPI
  git clone --branch v0.9.13 --depth 1 https://github.com/carla-simulator/scenario_runner.git
  conda create -n arf_py375 python=3.7.5   
  conda activate arf_py375  
  cd scenario_runner
  pip install -r requirements.txt ✅
  cd D:\github\Stanford-AutonomousRiskFramework.jl\CARLAIntegration\adversarial_carla_env
  pip install -r requirements.txt ✅

  Modify the setup.py as the code below.

  from setuptools import setup, find_packages  
  setup(name='adv_carla',
      version='0.0.1',
      packages=find_packages(include=['adv_carla', 'adv_carla.*']),   ## added by nov05
      install_requires=['gym']) # TODO: other reqs.

  pip install -e .  ✅ Install adv-carla-v0 gym environment
  pip install wandb
  

  Add system variables in Windows.

  CARLA_ROOT = D:\software\CARLA_0.9.13
  SCENARIO_RUNNER_ROOT = %CARLA_ROOT%\PythonAPI\scenario_runner
  PYTHONPATH (append) := ;%CARLA_ROOT%\PythonAPI\carla\agents;%CARLA_ROOT%\PythonAPI\carla;%CARLA_ROOT%\PythonAPI
  

  Add the following line to D:\software\julia-1.11.5-win64\julia-1.11.5\etc\julia\startup.jl

  # This file should contain site-specific commands to be executed on Julia startup;
  # Users may store their own personal commands in `~/.julia/config/startup.jl`.
  ENV["PYTHON"] = "D:/Users/guido/miniconda3/envs/arf_py375/python.exe"

  Restart PowerShell terminal

  cd D:\github\Stanford-AA228VProjects\project_final
  conda activate arf_py375
  julia
  julia> import Pkg; Pkg.activate(@__DIR__)  
  julia> Pkg.build("PyCall") ✅
  julia> using PyCall; PyCall.python
      "D:/Users/guido/miniconda3/envs/arf_py375/python.exe"
  julia> pyimport("adv_carla")
      PyObject <module 'adv_carla' from 'd:\\github\\stanford-autonomousriskframework.jl\\carlaintegration\\adversarial_carla_env\\adv_carla\\__init__.py'>
  julia> pyimport("wandb")
      PyObject <module 'wandb' from 'D:\\Users\\guido\\miniconda3\\envs\\arf_py375\\lib\\site-packages\\wandb\\__init__.py'>
  

• Install the Autonomous Risk Framework package. Check the result.

cd D:\github\Stanford-AutonomousRiskFramework.jl ❌
julia install.jl ❌ This would install all the pacakges in the Julia v1.11 environment.   
cd D:\github\Stanford-AA228VProjects\project_final
julia
julia> Pkg.activate("D:\\github\\Stanford-AutonomousRiskFramework.jl") ❌
julia> cd("D:/github/Stanford-AA228VProjects/project_final")
julia> import Pkg; Pkg.activate(@__DIR__) ✅ This would create Project.toml and Manifest.toml in this dir.  
julia> import Pkg; Pkg.upgrade_manifest()
     Updated Format of manifest file at `D:\github\Stanford-AA228VProjects\project_final\Manifest.toml` updated from v1.0 to v2.0
julia> include("D:/github/Stanford-AutonomousRiskFramework.jl/install.jl")

---

• Rebuild

import Pkg
Pkg.instantiate() 
Pkg.precompile()
Pkg.status()

⚠️

153 Base.run(queue::AbstractVector) = run(default_process, queue)

┌ AdversarialDriving
│  WARNING: Method definition run(AbstractArray{T, 1} where T) in module Simulators at D:\Users\guido\.julia\packages\POMDPTools\7Rekv\src\Simulators\parallel.jl:153 overwritten in module POMDPSimulators at D:\Users\guido\.julia\packages\POMDPSimulators\zxTz3\src\parallel.jl:153.
│  ERROR: Method overwriting is not permitted during Module precompilation. Use __precompile__(false) to opt-out of precompilation.
└

ChatGPT

using POMDPSimulators  # or POMDPTools, whichever you're keeping

Base.@eval begin
    # Check if not already defined
    if !isdefined(Base, :run) || !hasmethod(Base.run, Tuple{AbstractVector})
        Base.run(queue::AbstractVector) = run(default_process, queue)
    end
end