def spawn_vehicles(amount: int, blueprints: list, client: carla.Client,
spawn_points: List[carla.Transform]) -> list:
"""Spawns vehicles, based on spawn_npc.py"""
assert amount >= 0
traffic_manager = client.get_trafficmanager()
batch = []
vehicles = []
random.shuffle(spawn_points)
for i, transform in enumerate(spawn_points):
if i >= amount:
break
blueprint = random.choice(blueprints)
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
if blueprint.has_attribute('driver_id'):
driver_id = random.choice(
blueprint.get_attribute('driver_id').recommended_values)
blueprint.set_attribute('driver_id', driver_id)
blueprint.set_attribute('role_name', 'autopilot')
# spawn the cars and set their autopilot
batch.append(
carla.command.SpawnActor(blueprint, transform).then(
carla.command.SetAutopilot(carla.command.FutureActor, True,
traffic_manager.get_port())))
for response in client.apply_batch_sync(batch, True):
if response.error:
print(response.error)
else:
vehicles.append(response.actor_id)
return vehicles
def spawn_pedestrians(amount: int,
blueprints: list,
client: carla.Client,
running=0.0,
crossing=0.0) -> list:
"""Spawns pedestrians, based on spawn_npc.py"""
assert amount >= 0
assert 0.0 <= running <= 1.0
assert 0.0 <= crossing <= 1.0
percentage_pedestrians_running = running # how many pedestrians will run
percentage_pedestrians_crossing = crossing # how many pedestrians will walk through the road
traffic_manager = client.get_trafficmanager()
world = client.get_world()
# 1. Spawn point with random location (for navigation purpose)
spawn_points = []
for i in range(amount):
spawn_point = carla.Transform()
loc = world.get_random_location_from_navigation()
if loc is not None:
spawn_point.location = loc
spawn_points.append(spawn_point)
# 2. spawn the walker object
batch = []
walker_speed = []
for spawn_point in spawn_points:
walker_bp = random.choice(blueprints)
# set as not invincible
if walker_bp.has_attribute('is_invincible'):
walker_bp.set_attribute('is_invincible', 'false')
# set the max speed
if walker_bp.has_attribute('speed'):
if random.random() > percentage_pedestrians_running:
# walking
walker_speed.append(
walker_bp.get_attribute('speed').recommended_values[1])
else:
# running
walker_speed.append(
walker_bp.get_attribute('speed').recommended_values[2])
else:
print("Walker has no speed")
walker_speed.append(0.0)
batch.append(carla.command.SpawnActor(walker_bp, spawn_point))
results = client.apply_batch_sync(batch, True)
walker_speed2 = []
walkers = []
for i in range(len(results)):
if results[i].error:
print(results[i].error)
else:
walkers.append(dict(id=results[i].actor_id, controller=None))
walker_speed2.append(walker_speed[i])
walker_speed = walker_speed2
# 3. Spawn the walker controller
batch = []
walker_controller_bp = world.get_blueprint_library().find(
'controller.ai.walker')
for i in range(len(walkers)):
batch.append(
carla.command.SpawnActor(walker_controller_bp, carla.Transform(),
walkers[i]['id']))
results = client.apply_batch_sync(batch, True)
for i in range(len(results)):
if results[i].error:
print(results[i].error)
else:
walkers[i]['controller'] = results[i].actor_id
# 4. Put altogether the walkers and controllers id to get the objects from their id
all_id = []
for i in range(len(walkers)):
all_id.append(walkers[i]['controller'])
all_id.append(walkers[i]['id'])
all_actors = world.get_actors(all_id)
# wait for a tick to ensure client receives the last transform of the walkers we have just created
if not world.get_settings().synchronous_mode:
world.wait_for_tick()
else:
world.tick()
# 5. initialize each controller and set target to walk to (list is [controller, actor, controller, actor ...])
# set how many pedestrians can cross the road
world.set_pedestrians_cross_factor(percentage_pedestrians_crossing)
for i in range(0, len(all_id), 2):
# start walker
all_actors[i].start()
# set walk to random point
all_actors[i].go_to_location(
world.get_random_location_from_navigation())
# max speed
all_actors[i].set_max_speed(float(walker_speed[int(i / 2)]))
return all_id