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')