def main(): try: agent_config = AgentConfig.parse_file(Path("./ROAR_Jetson/configurations/agent_configuration.json")) jetson_config = JetsonConfig.parse_file(Path("./ROAR_Jetson/configurations/configuration.json")) try: prepare(jetson_config=jetson_config) except Exception as e: logging.error(f"Ignoring Error during setup: {e}") agent = PIDAgent(vehicle=Vehicle(), agent_settings=agent_config, should_init_default_cam=False) jetson_runner = JetsonRunner(agent=agent, jetson_config=jetson_config) jetson_runner.start_game_loop(use_manual_control=False) except Exception as e: print(f"Something bad happened {e}")
def main(): agent_config = AgentConfig.parse_file( Path("./ROAR_Sim/configurations/agent_configuration.json")) carla_config = CarlaConfig.parse_file( Path("./ROAR_Sim/configurations/configuration.json")) carla_runner = CarlaRunner(carla_settings=carla_config, agent_settings=agent_config, npc_agent_class=PurePursuitAgent) try: my_vehicle = carla_runner.set_carla_world() agent = PIDAgent(vehicle=my_vehicle, agent_settings=agent_config) carla_runner.start_game_loop(agent=agent, use_manual_control=False) except Exception as e: logging.error(f"Something bad happened during initialization: {e}") carla_runner.on_finish() logging.error(f"{e}. Might be a good idea to restart Server")
def main(): """Starts game loop""" carla_config = CarlaConfig.parse_file(Path("./ROAR_Sim/configurations/configuration.json")) agent_config = AgentConfig.parse_file(Path("./ROAR_Sim/configurations/agent_configuration.json")) """ Pit Stop: Use different kinds of 'set' functions at PitStop to tune/fix your own car! """ pitstop = PitStop(carla_config, agent_config) pitstop.set_carla_version(version = "0.9.9") pitstop.set_carla_sync_mode(False) pitstop.set_autopilot_mode(True) pitstop.set_car_color(CarlaCarColor(r = 255,g = 200,b = 00,a = 255)) pitstop.set_num_laps(num=1) pitstop.set_output_data_folder_path("./data/output") pitstop.set_output_data_file_name(time.strftime("%Y%m%d-%H%M%S-") + "map-waypoints") pitstop.set_max_speed(speed = 200) pitstop.set_target_speed(speed = 30) print(agent_config.target_speed, " target speed") pitstop.set_steering_boundary(boundary = (-1.0, 1.0)) pitstop.set_throttle_boundary(boundary = (0, 0.5)) pitstop.set_waypoints_look_ahead_values(values={ "60": 5, "80": 10, "120": 20, "180": 50}) pid_value = { "longitudinal_controller": { "40": { "Kp": 0.8, "Kd": 0.2, "Ki": 0 }, "60": { "Kp": 0.5, "Kd": 0.2, "Ki": 0 }, "150": { "Kp": 0.2, "Kd": 0.1, "Ki": 0.1 } }, "latitudinal_controller": { "60": { "Kp": 0.8, "Kd": 0.1, "Ki": 0.1 }, "100": { "Kp": 0.6, "Kd": 0.2, "Ki": 0.1 }, "150": { "Kp": 0.5, "Kd": 0.2, "Ki": 0.1 } } } pitstop.set_pid_values(pid_value) """Passing configurations to Carla and Agent""" carla_runner = CarlaRunner(carla_settings=carla_config, # ROAR Academy: fine agent_settings=agent_config, # ROAR Academy: fine npc_agent_class=PurePursuitAgent) try: my_vehicle = carla_runner.set_carla_world() agent = PIDAgent(vehicle=my_vehicle, agent_settings=agent_config) # agent = WaypointGeneratigAgent(vehicle=my_vehicle, agent_settings=agent_config) carla_runner.start_game_loop(agent=agent, use_manual_control=False) # for PIDAgent # carla_runner.start_game_loop(agent=agent, use_manual_control=True) # for WaypointGeneratingAgent except Exception as e: logging.error(f"Something bad happened during initialization: {e}") carla_runner.on_finish() logging.error(f"{e}. Might be a good idea to restart Server")