def _spawn_ego_car(self, start_transform):
"""
Spawn or update all scenario actors according to
a certain start position.
"""
# If ego_vehicle already exists, just update location
# Otherwise spawn ego vehicle
self._ego_actor = CarlaActorPool.request_new_actor(self._vehicle_model, start_transform,
hero=True)
CarlaDataProvider.set_ego_vehicle_route( convert_transform_to_location(self._route))
logging.debug("Created Ego Vehicle")
def build_master_scenario(self, route, town_name, timeout, terminate_on_collision):
# We have to find the target.
# we also have to convert the route to the expected format
master_scenario_configuration = ScenarioConfiguration()
master_scenario_configuration.target = route[-1][0] # Take the last point and add as target.
master_scenario_configuration.route = convert_transform_to_location(route)
master_scenario_configuration.town = town_name
master_scenario_configuration.ego_vehicle = ActorConfigurationData('vehicle.lincoln.mkz2017',
self._ego_actor.get_transform())
master_scenario_configuration.trigger_point = self._ego_actor.get_transform()
CarlaDataProvider.register_actor(self._ego_actor)
return MasterScenario(self.world, [self._ego_actor], master_scenario_configuration,
timeout=timeout, terminate_on_collision=terminate_on_collision)
