def set_carla_world(self) -> Vehicle:
"""
Initiating the vehicle with loading messages
Returns:
Vehicle Information
"""
try:
pygame.init()
pygame.font.init()
self.logger.debug(f"Connecting to {self.carla_settings.host}: "
f"{self.carla_settings.port}")
self.client = carla.Client(self.carla_settings.host,
self.carla_settings.port)
if not self.check_version(client=self.client):
self.logger.error(
f"Version Mismatch: Client = {self.client.get_client_version()}, "
f"Server = {self.client.get_server_version()}. \n"
f"HINT: Please change carla_version to either 0.9.9 or 0.9.10 "
f"in ROAR_Sim.configurations.carla_version.txt")
exit(1)
if self.carla_settings.should_visualize_with_pygame is True:
self.display = pygame.display.set_mode(
(self.carla_settings.width, self.carla_settings.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
self.logger.debug(f"Setting HUD")
hud = HUD(self.carla_settings.width, self.carla_settings.height)
self.logger.debug("Setting up world")
self.world = World(carla_world=self.client.get_world(),
hud=hud,
carla_settings=self.carla_settings,
agent_settings=self.agent_settings)
if self.carla_settings.should_spawn_npcs:
self.spawn_npcs()
self.logger.debug(f"Connecting to Keyboard controls")
self.controller = KeyboardControl(
world=self.world, carla_setting=self.carla_settings)
self.logger.debug("All settings done")
return self.carla_bridge. \
convert_vehicle_from_source_to_agent(self.world.player)
except Exception as e:
self.logger.error(
f"Unable to initiate the world due to error: {e}")
raise e
def set_carla_world(self) -> Vehicle:
"""
Initiating the vehicle with loading messages
Returns:
Vehicle Information
"""
try:
pygame.init()
pygame.font.init()
self.logger.debug(f"Connecting to {self.carla_settings.host}: "
f"{self.carla_settings.port}")
self.client = carla.Client(self.carla_settings.host,
self.carla_settings.port)
self.client.set_timeout(self.carla_settings.timeout)
self.display = pygame.display.set_mode(
(self.carla_settings.width, self.carla_settings.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
self.logger.debug(f"Setting HUD")
hud = HUD(self.carla_settings.width, self.carla_settings.height)
self.logger.debug("Setting up world")
self.world = World(carla_world=self.client.get_world(),
hud=hud,
carla_settings=self.carla_settings,
agent_settings=self.agent_settings)
if self.carla_settings.should_spawn_npcs:
self.spawn_npcs()
self.logger.debug(f"Connecting to Keyboard controls")
self.controller = KeyboardControl(
world=self.world, carla_setting=self.carla_settings)
self.logger.debug("All settings done")
return self.carla_bridge. \
convert_vehicle_from_source_to_agent(self.world.player)
except Exception as e:
self.logger.error(
f"Unable to initiate the world due to error: {e}")
raise e
def setup(self):
try:
self.client = carla.Client(self.environment_setting.host,
self.environment_setting.port)
self.client.set_timeout(self.environment_setting.timeout)
self.logger.debug(f"Setting HUD")
hud = HUD(self.environment_setting.width,
self.environment_setting.height)
self.logger.debug("Setting up world")
self.world = World(carla_world=self.client.get_world(),
hud=hud,
carla_settings=self.environment_setting,
agent_settings=self.agent_setting)
if self.environment_setting.should_spawn_npcs:
self.spawn_npcs()
self.agent = self.bridge.convert_vehicle_from_source_to_agent(
self.world.player)
except Exception as e:
print(e)