def spawn_npcs(carla_client: carla.Client,
wpp: WaypointProvider = None,
n=10,
role_name_prefix='npc') -> List[BasicAgent]:
world: carla.World = carla_client.get_world()
vehicle_blueprints = world.get_blueprint_library().filter('vehicle.*')
if not wpp:
wpp = WaypointProvider(world)
wpp.update(free_only=True)
start_points: List[carla.Transform] = []
end_points: List[carla.Transform] = []
agent_ids: List[int] = []
agents: List[BasicAgent] = []
batch: List[carla.command.SpawnActor] = []
for i in range(n):
blueprint = random.choice(vehicle_blueprints)
blueprint.set_attribute('role_name', f'{role_name_prefix}_{i}')
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
start_points.append(wpp.get())
end_points.append(wpp.get())
batch.append(carla.command.SpawnActor(blueprint, start_points[-1]))
results = carla_client.apply_batch_sync(batch, True)
for i in range(len(results)):
if results[i].error:
logging.error(results[i].error)
else:
agent_ids.append(results[i].actor_id)
world.wait_for_tick()
agent_actors: carla.ActorList = world.get_actors(agent_ids)
for i, actor in enumerate(agent_actors):
agent: BasicAgent = BasicAgent(actor, target_speed=NPC_TARGET_SPEED)
try:
agent.set_location_destination(end_points[i].location)
agents.append(agent)
except AttributeError:
logging.error(f'Failed to spawn NPC actor with id {actor.id}.')
return agents
def spawn_vehicles(amount: int, blueprints: list, client: carla.Client,
spawn_points: List[carla.Transform]) -> list:
"""Spawns vehicles, based on spawn_npc.py"""
assert amount >= 0
traffic_manager = client.get_trafficmanager()
batch = []
vehicles = []
random.shuffle(spawn_points)
for i, transform in enumerate(spawn_points):
if i >= amount:
break
blueprint = random.choice(blueprints)
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
if blueprint.has_attribute('driver_id'):
driver_id = random.choice(
blueprint.get_attribute('driver_id').recommended_values)
blueprint.set_attribute('driver_id', driver_id)
blueprint.set_attribute('role_name', 'autopilot')
# spawn the cars and set their autopilot
batch.append(
carla.command.SpawnActor(blueprint, transform).then(
carla.command.SetAutopilot(carla.command.FutureActor, True,
traffic_manager.get_port())))
for response in client.apply_batch_sync(batch, True):
if response.error:
print(response.error)
else:
vehicles.append(response.actor_id)
return vehicles
def spawn_static_vehicles(carla_client: carla.Client,
n=10,
role_name_prefix='static') -> List[carla.Actor]:
world: carla.World = carla_client.get_world()
map: carla.Map = world.get_map()
vehicle_blueprints = world.get_blueprint_library().filter('vehicle.*')
actor_ids: List[int] = []
batch: List[carla.command.SpawnActor] = []
sidewalk_points: List[carla.Location] = [
world.get_random_location_from_navigation() for _ in range(n)
]
street_points: List[carla.Transform] = [
map.get_waypoint(l).transform for l in sidewalk_points
]
spawn_points: List[carla.Transform] = [
carla.Transform(location=sidewalk_points[i],
rotation=street_points[i].rotation) for i in range(n)
]
for i in range(len(spawn_points)):
bp: carla.Blueprint = random.choice(vehicle_blueprints)
bp.set_attribute('role_name', f'{role_name_prefix}_{i * 100}')
batch.append(carla.command.SpawnActor(bp, spawn_points[i]))
results = carla_client.apply_batch_sync(batch, True)
for i in range(len(results)):
if results[i].error:
logging.error(results[i].error)
else:
actor_ids.append(results[i].actor_id)
all_actors: carla.ActorList = world.get_actors(actor_ids)
return [a for a in all_actors]
def spawn_pedestrians(amount: int,
blueprints: list,
client: carla.Client,
running=0.0,
crossing=0.0) -> list:
"""Spawns pedestrians, based on spawn_npc.py"""
assert amount >= 0
assert 0.0 <= running <= 1.0
assert 0.0 <= crossing <= 1.0
percentage_pedestrians_running = running # how many pedestrians will run
percentage_pedestrians_crossing = crossing # how many pedestrians will walk through the road
traffic_manager = client.get_trafficmanager()
world = client.get_world()
# 1. Spawn point with random location (for navigation purpose)
spawn_points = []
for i in range(amount):
spawn_point = carla.Transform()
loc = world.get_random_location_from_navigation()
if loc is not None:
spawn_point.location = loc
spawn_points.append(spawn_point)
# 2. spawn the walker object
batch = []
walker_speed = []
for spawn_point in spawn_points:
walker_bp = random.choice(blueprints)
# set as not invincible
if walker_bp.has_attribute('is_invincible'):
walker_bp.set_attribute('is_invincible', 'false')
# set the max speed
if walker_bp.has_attribute('speed'):
if random.random() > percentage_pedestrians_running:
# walking
walker_speed.append(
walker_bp.get_attribute('speed').recommended_values[1])
else:
# running
walker_speed.append(
walker_bp.get_attribute('speed').recommended_values[2])
else:
print("Walker has no speed")
walker_speed.append(0.0)
batch.append(carla.command.SpawnActor(walker_bp, spawn_point))
results = client.apply_batch_sync(batch, True)
walker_speed2 = []
walkers = []
for i in range(len(results)):
if results[i].error:
print(results[i].error)
else:
walkers.append(dict(id=results[i].actor_id, controller=None))
walker_speed2.append(walker_speed[i])
walker_speed = walker_speed2
# 3. Spawn the walker controller
batch = []
walker_controller_bp = world.get_blueprint_library().find(
'controller.ai.walker')
for i in range(len(walkers)):
batch.append(
carla.command.SpawnActor(walker_controller_bp, carla.Transform(),
walkers[i]['id']))
results = client.apply_batch_sync(batch, True)
for i in range(len(results)):
if results[i].error:
print(results[i].error)
else:
walkers[i]['controller'] = results[i].actor_id
# 4. Put altogether the walkers and controllers id to get the objects from their id
all_id = []
for i in range(len(walkers)):
all_id.append(walkers[i]['controller'])
all_id.append(walkers[i]['id'])
all_actors = world.get_actors(all_id)
# wait for a tick to ensure client receives the last transform of the walkers we have just created
if not world.get_settings().synchronous_mode:
world.wait_for_tick()
else:
world.tick()
# 5. initialize each controller and set target to walk to (list is [controller, actor, controller, actor ...])
# set how many pedestrians can cross the road
world.set_pedestrians_cross_factor(percentage_pedestrians_crossing)
for i in range(0, len(all_id), 2):
# start walker
all_actors[i].start()
# set walk to random point
all_actors[i].go_to_location(
world.get_random_location_from_navigation())
# max speed
all_actors[i].set_max_speed(float(walker_speed[int(i / 2)]))
return all_id
def multi_destroy(carla_client: carla.Client, actors: Iterable[carla.Actor]):
batch = list(map(lambda a: carla.command.DestroyActor(a), actors))
carla_client.apply_batch_sync(batch, True)
def try_spawn_pedestrians(carla_client: carla.Client,
n=10) -> List[carla.Actor]:
# -------------
# Spawn Walkers
# -------------
world: carla.World = carla_client.get_world()
walker_blueprints = world.get_blueprint_library().filter(
'walker.pedestrian.000[1-7]*')
walkers_list = []
all_id = []
# 1. take all the random locations to spawn
spawn_points = []
for i in range(n):
spawn_point = carla.Transform()
loc = world.get_random_location_from_navigation()
if loc is not None:
spawn_point.location = loc
spawn_points.append(spawn_point)
# 2. we spawn the walker object
batch = []
for spawn_point in spawn_points:
walker_bp = random.choice(walker_blueprints)
# set as not invincible
if walker_bp.has_attribute('is_invincible'):
walker_bp.set_attribute('is_invincible', 'false')
batch.append(carla.command.SpawnActor(walker_bp, spawn_point))
results = carla_client.apply_batch_sync(batch, True)
for i in range(len(results)):
if results[i].error:
logging.error(results[i].error)
else:
walkers_list.append({"id": results[i].actor_id})
# 3. we spawn the walker controller
batch = []
walker_controller_bp = world.get_blueprint_library().find(
'controller.ai.walker')
for i in range(len(walkers_list)):
batch.append(
carla.command.SpawnActor(walker_controller_bp, carla.Transform(),
walkers_list[i]["id"]))
results = carla_client.apply_batch_sync(batch, True)
for i in range(len(results)):
if results[i].error:
logging.error(results[i].error)
else:
walkers_list[i]["con"] = results[i].actor_id
# 4. we put altogether the walkers and controllers id to get the objects from their id
for i in range(len(walkers_list)):
all_id.append(walkers_list[i]["con"])
all_id.append(walkers_list[i]["id"])
all_actors: carla.ActorList = world.get_actors(all_id)
# wait for a tick to ensure client receives the last transform of the walkers we have just created
world.wait_for_tick()
# 5. initialize each controller and set target to walk to (list is [controller, actor, controller, actor ...])
for i in range(0, len(all_id), 2):
# start walker
all_actors[i].start()
try:
# set walk to random point
all_actors[i].go_to_location(
world.get_random_location_from_navigation())
# random max speed
all_actors[i].set_max_speed(
1 + random.random()
) # max speed between 1 and 2 (default is 1.4 m/s)
except Exception as e:
all_actors[i].stop()
all_actors = all_actors[:i] + all_actors[i + 2:]
return [a for a in all_actors]
