def __init__(self, config=None):
if config is None:
config = ENV_CONFIG
self.environment_config = config
carla_server_binary = add_carla_path(
ENV_CONFIG["CARLA_PATH_CONFIG_FILE"])
self.environment_config.update({"SERVER_BINARY": carla_server_binary})
module = __import__("experiments.{}".format(
self.environment_config["Experiment"]))
exec("self.experiment = module.{}.Experiment()".format(
self.environment_config["Experiment"]))
self.action_space = self.experiment.get_action_space()
self.observation_space = self.experiment.get_observation_space()
self.experiment_config = self.experiment.get_experiment_config()
self.core = CarlaCore(self.environment_config, self.experiment_config)
self.experiment.spawn_actors(self.core)
self.experiment.initialize_reward(self.core)
self.reset()
def main():
actor_list = []
pygame.init()
display = pygame.display.set_mode((900, 1200),
pygame.HWSURFACE | pygame.DOUBLEBUF)
font = get_font()
clock = pygame.time.Clock()
env_config = ENV_CONFIG
carla_server_binary = add_carla_path(ENV_CONFIG["CARLA_PATH_CONFIG_FILE"])
env_config.update({"SERVER_BINARY": carla_server_binary})
experiment = Experiment()
action_space = experiment.get_action_space()
observation_space = experiment.get_observation_space()
exp_config = experiment.get_experiment_config()
CarlaCore(environment_config=env_config,
experiment_config=exp_config,
core_config=None)
time.sleep(10)
client = carla.Client('localhost', 2000)
client.set_timeout(2.0)
print(client)
print("server_version", client.get_server_version())
print("client_version", client.get_client_version())
world = client.get_world()
try:
m = world.get_map()
start_pose = random.choice(m.get_spawn_points())
waypoint = m.get_waypoint(start_pose.location)
blueprint_library = world.get_blueprint_library()
vehicle = world.spawn_actor(
random.choice(blueprint_library.filter('vehicle.*')), start_pose)
actor_list.append(vehicle)
vehicle.set_simulate_physics(False)
camera_rgb = world.spawn_actor(
blueprint_library.find('sensor.camera.rgb'),
carla.Transform(carla.Location(x=-5.5, z=2.8),
carla.Rotation(pitch=-15)),
attach_to=vehicle)
actor_list.append(camera_rgb)
camera_semseg = world.spawn_actor(
blueprint_library.find('sensor.camera.semantic_segmentation'),
carla.Transform(carla.Location(x=-5.5, z=2.8),
carla.Rotation(pitch=-15)),
attach_to=vehicle)
actor_list.append(camera_semseg)
# Create a synchronous mode context.
with CarlaSyncMode(world, camera_rgb, camera_semseg,
fps=50) as sync_mode:
while True:
if should_quit():
return
clock.tick()
t = time.time()
# Advance the simulation and wait for the data.
snapshot, image_rgb, image_semseg = sync_mode.tick(timeout=2.0)
# Choose the next waypoint and update the car location.
waypoint = random.choice(waypoint.next(1.5))
vehicle.set_transform(waypoint.transform)
image_semseg.convert(carla.ColorConverter.CityScapesPalette)
fps = round(1.0 / snapshot.timestamp.delta_seconds)
# Draw the display.
draw_image(display, image_rgb)
draw_image(display, image_semseg, blend=True)
display.blit(
font.render('% 5d FPS (real)' % clock.get_fps(), True,
(255, 255, 255)), (8, 10))
display.blit(
font.render('% 5d FPS (simulated)' % fps, True,
(255, 255, 255)), (8, 28))
pygame.display.flip()
elapsed = time.time() - t
print("Elapsed (ms):{:0.2f}".format(elapsed * 1000))
finally:
print('destroying actors.')
for actor in actor_list:
actor.destroy()
pygame.quit()
print('done.')
# For a copy, see <https://opensource.org/licenses/MIT>.
import glob
import os
import sys
from helper.CarlaHelper import add_carla_path
import time
ENV_CONFIG = {
"RAY": True, # True if you are running an experiment in Ray
"DEBUG_MODE": True,
"CARLA_PATH_CONFIG_FILE":
"CARLA_PATH.txt", # IN this file, put the path to your CARLA FOLDER
}
CARLA_SERVER_BINARY = add_carla_path(ENV_CONFIG["CARLA_PATH_CONFIG_FILE"])
ENV_CONFIG.update({"SERVER_BINARY": CARLA_SERVER_BINARY})
import carla
from core.CarlaCore2 import CarlaCore
from experiments.experiment1 import Experiment
import random
try:
import pygame
except ImportError:
raise RuntimeError(
'cannot import pygame, make sure pygame package is installed')
def main():
env_config = ENV_CONFIG
carla_server_binary = add_carla_path(ENV_CONFIG["CARLA_PATH_CONFIG_FILE"])
env_config.update({"SERVER_BINARY": carla_server_binary})
experiment = Experiment()
action_space = experiment.get_action_space()
observation_space = experiment.get_observation_space()
exp_config = experiment.get_experiment_config()
CarlaCore(environment_config=env_config,
experiment_config=exp_config,
core_config=None)
time.sleep(5)
argparser = argparse.ArgumentParser(
description='CARLA Manual Control Client')
argparser.add_argument('-v',
'--verbose',
action='store_true',
dest='debug',
help='print debug information')
argparser.add_argument('--host',
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument('-p',
'--port',
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)')
argparser.add_argument('-a',
'--autopilot',
action='store_true',
help='enable autopilot')
argparser.add_argument('--res',
metavar='WIDTHxHEIGHT',
default='1280x720',
help='window resolution (default: 1280x720)')
argparser.add_argument('--filter',
metavar='PATTERN',
default='vehicle.*',
help='actor filter (default: "vehicle.*")')
argparser.add_argument('--rolename',
metavar='NAME',
default='hero',
help='actor role name (default: "hero")')
argparser.add_argument(
'--gamma',
default=2.2,
type=float,
help='Gamma correction of the camera (default: 2.2)')
args = argparser.parse_args()
args.width, args.height = [int(x) for x in args.res.split('x')]
log_level = logging.DEBUG if args.debug else logging.INFO
logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level)
logging.info('listening to server %s:%s', args.host, args.port)
print(__doc__)
try:
game_loop(args)
except KeyboardInterrupt:
print('\nCancelled by user. Bye!')