def _build_master_scenario(self, world, ego_vehicle, route, town_name, timeout=300, debug_mode=False): """ Create the MasterScenario """ # 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 # TODO THIS NAME IS BIT WEIRD SINCE THE EGO VEHICLE IS ALREADY THERE, IT IS MORE ABOUT THE TRANSFORM master_scenario_configuration.ego_vehicle = ActorConfigurationData( 'vehicle.lincoln.mkz2017', ego_vehicle.get_transform(), 'hero') master_scenario_configuration.trigger_points = [ ego_vehicle.get_transform() ] # Provide an initial blackboard entry to ensure all scenarios are running correctly blackboard = py_trees.blackboard.Blackboard() blackboard.set('master_scenario_command', 'scenarios_running') return MasterScenario(world, [ego_vehicle], master_scenario_configuration, timeout=timeout, debug_mode=debug_mode)
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)