def spawn_people(client, world, num_people: int, logger):
"""Spawns people at random locations inside the world.
Args:
num_people: The number of people to spawn.
"""
from carla import command, Transform
p_blueprints = world.get_blueprint_library().filter('walker.pedestrian.*')
unique_locs = set([])
spawn_points = []
# Get unique spawn points.
for i in range(num_people):
attempt = 0
while attempt < 10:
spawn_point = Transform()
loc = world.get_random_location_from_navigation()
if loc is not None:
# Transform to tuple so that location is comparable.
p_loc = (loc.x, loc.y, loc.z)
if p_loc not in unique_locs:
spawn_point.location = loc
spawn_points.append(spawn_point)
unique_locs.add(p_loc)
break
attempt += 1
if attempt == 10:
logger.error('Could not find unique person spawn point')
# Spawn the people.
batch = []
for spawn_point in spawn_points:
p_blueprint = random.choice(p_blueprints)
if p_blueprint.has_attribute('is_invincible'):
p_blueprint.set_attribute('is_invincible', 'false')
batch.append(command.SpawnActor(p_blueprint, spawn_point))
# Apply the batch and retrieve the identifiers.
ped_ids = []
for response in client.apply_batch_sync(batch, True):
if response.error:
logger.info('Received an error while spawning a person: {}'.format(
response.error))
else:
ped_ids.append(response.actor_id)
# Spawn the person controllers
ped_controller_bp = world.get_blueprint_library().find(
'controller.ai.walker')
batch = []
for ped_id in ped_ids:
batch.append(command.SpawnActor(ped_controller_bp, Transform(),
ped_id))
ped_control_ids = []
for response in client.apply_batch_sync(batch, True):
if response.error:
logger.info('Error while spawning a person controller: {}'.format(
response.error))
else:
ped_control_ids.append(response.actor_id)
return (ped_ids, ped_control_ids)
def spawn_driving_vehicle(client, world):
""" This function spawns the driving vehicle and puts it into
an autopilot mode.
Args:
client: The client instance representing the simulation to
connect to.
world: The world inside the current simulation.
Returns:
An Actor instance representing the vehicle that was just spawned.
"""
# Get the blueprint of the vehicle and set it to AutoPilot.
vehicle_bp = random.choice(
world.get_blueprint_library().filter('vehicle.*'))
while not vehicle_bp.has_attribute('number_of_wheels') or not int(
vehicle_bp.get_attribute('number_of_wheels')) == 4:
vehicle_bp = random.choice(
world.get_blueprint_library().filter('vehicle.*'))
vehicle_bp.set_attribute('role_name', 'autopilot')
# Get the spawn point of the vehicle.
start_pose = random.choice(world.get_map().get_spawn_points())
# Spawn the vehicle.
batch = [
command.SpawnActor(vehicle_bp, start_pose).then(
command.SetAutopilot(command.FutureActor, True))
]
vehicle_id = client.apply_batch_sync(batch)[0].actor_id
# Find the vehicle and return the Actor instance.
time.sleep(
0.5) # This is so that the vehicle gets registered in the actors.
return world.get_actors().find(vehicle_id)
def spawn_vehicles(client, world, num_vehicles: int, logger):
""" Spawns vehicles at random locations inside the world.
Args:
num_vehicles: The number of vehicles to spawn.
"""
from carla import command
logger.debug('Trying to spawn {} vehicles.'.format(num_vehicles))
# Get the spawn points and ensure that the number of vehicles
# requested are less than the number of spawn points.
spawn_points = world.get_map().get_spawn_points()
if num_vehicles >= len(spawn_points):
logger.warning(
'Requested {} vehicles but only found {} spawn points'.format(
num_vehicles, len(spawn_points)))
num_vehicles = len(spawn_points)
else:
random.shuffle(spawn_points)
# Get all the possible vehicle blueprints inside the world.
v_blueprints = world.get_blueprint_library().filter('vehicle.*')
#v_blueprints = world.get_blueprint_library().filter('vehicle.diamondback.*')
# Construct a batch message that spawns the vehicles.
batch = []
for transform in spawn_points[:num_vehicles]:
blueprint = random.choice(v_blueprints)
# Change the color of the vehicle.
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
# Let the vehicle drive itself.
blueprint.set_attribute('role_name', 'autopilot')
batch.append(
command.SpawnActor(blueprint, transform).then(
command.SetAutopilot(command.FutureActor, True)))
# Apply the batch and retrieve the identifiers.
vehicle_ids = []
for response in client.apply_batch_sync(batch, True):
if response.error:
logger.info(
'Received an error while spawning a vehicle: {}'.format(
response.error))
else:
vehicle_ids.append(response.actor_id)
return vehicle_ids