def get_world(host: str = "localhost", port: int = 2000, timeout: int = 10):
"""Get a handle to the world running inside the simulation.
Args:
host (:obj:`str`): The host where the simulator is running.
port (:obj:`int`): The port to connect to at the given host.
timeout (:obj:`int`): The timeout of the connection (in seconds).
Returns:
A tuple of `(client, world)` where the `client` is a connection to the
simulator and `world` is a handle to the world running inside the
simulation at the host:port.
"""
try:
from carla import Client
client = Client(host, port)
client_version = client.get_client_version()
server_version = client.get_server_version()
err_msg = 'Simulator client {} does not match server {}'.format(
client_version, server_version)
assert client_version == server_version, err_msg
client.set_timeout(timeout)
world = client.get_world()
except RuntimeError as r:
raise Exception("Received an error while connecting to the "
"simulator: {}".format(r))
except ImportError:
raise Exception('Error importing CARLA.')
return (client, world)
def main():
global world
client = Client('localhost', 2000)
world = client.get_world()
settings = world.get_settings()
settings.synchronous_mode = True
settings.fixed_delta_seconds = 1.0 / 10
world.apply_settings(settings)
# Spawn the vehicle.
vehicle = spawn_driving_vehicle(client, world)
# Spawn the camera and register a function to listen to the images.
camera = spawn_rgb_camera(world, Location(x=2.0, y=0.0, z=1.8),
Rotation(roll=0, pitch=0, yaw=0), vehicle)
camera.listen(process_images)
world.tick()
return vehicle, camera, world
from carla import Client, Transform, Rotation, Location, Waypoint
from carla import LaneMarking
import carla
import random
import time
import math
import sys
# starting proper work now
print('attempting to connect...') # DEBUG
client = Client('localhost', 2000, worker_threads=12)
client.set_timeout(10.0)
client.load_world('/Game/Carla/Maps/single_left_bend')
print('connected!') # DEBUG
world = client.get_world()
# ##################################################
# Change weather for data collection
# ClearNoon, ClearSunset, WetSunset, WetNoon
world.set_weather(carla.WeatherParameters.WetSunset)
# ##################################################
# bp of all actors
blueprint_lib = world.get_blueprint_library()
vehicle_bp = blueprint_lib.find('vehicle.audi.tt')
lane_invasion_sensor_bp = blueprint_lib.find('sensor.other.lane_invasion')