#161 Addressed peer review comments

scenario-runner/README.md

@@ -1,5 +1,7 @@
 # CARLA ScenarioRunner scenarios
 
-This directory contains custom ScenarioRunner scenario configurations to
-facilitate integration testing. This still a work in progress, so the scenarios
-serve more as example references.
+This directory contains custom [ScenarioRunner][scenario_runner_docs_link]
+scenario configurations to facilitate integration testing. This still a work in
+progress, so the scenarios serve more as example references.
+
+[scenario_runner_docs_link]: https://carla-scenariorunner.readthedocs.io/en/latest/

scenario-runner/my_scenario.py

@@ -90,7 +90,10 @@ def _setup_scenario_trigger(self, _: ScenarioConfiguration) -> None:
         BasicScenario parent class. The base class's implementation adds
         a trigger that prevents the scenario from starting until the
         ego vehicle drives some distance. We don't want that trigger
-        for this scenario.
+        for this scenario because the ego vehicle will not move. Override this
+        function to create custom scenario start triggers. Follow this link
+        for more information:
+        https://carla-scenariorunner.readthedocs.io/en/latest/creating_new_scenario/
 
         :return: None
         """
@@ -112,6 +115,9 @@ def _create_behavior(self):
             crossing_person, 2.0, 8.0, name="walk_across_street"
         )
 
+        # This end condition is commented out because it is not currently being
+        # used in the scenario. It remains here as an example/reference for
+        # how to gracefully end a ScenarioRunner scenario.
         # end_condition = DriveDistance(carma_vehicle, 10)
 
         root = py_trees.composites.Sequence(name="root_sequence")
@@ -130,6 +136,8 @@ def _create_test_criteria(self) -> list:
         :return: List of test criteria
         """
         return [
+            # This is an example usage for including test criteria in
+            # ScnearioRunner.
             # CollisionTest(self.carma_vehicle)
         ]
 

scenario-runner/requirements.txt

@@ -0,0 +1,6 @@
+py_trees
+
+# Note: The `srunner` package in PyPi is outdated, and the ScenarioRunner
+# documentation uses the source-installed `srunner` package in all of its
+# examples.
+# srunner