def __init__(self, client: carla.Client): print("Available Maps:") print(client.get_available_maps()) client.load_world('Town04') client.reload_world() self.carla_world: carla.World = client.get_world() blueprint_library: carla.BlueprintLibrary = self.carla_world.get_blueprint_library( ) # Create vehicle vehicle_bp = blueprint_library.filter('vehicle.citroen.c3')[0] spawn_point = self.carla_world.get_map().get_spawn_points()[86] self.ego_vehicle: carla.Vehicle = self.carla_world.spawn_actor( vehicle_bp, spawn_point) self.ego_vehicle.set_autopilot(False) for idx, waypoint in enumerate( self.carla_world.get_map().get_spawn_points()): self.carla_world.debug.draw_string(waypoint.location, str(idx), draw_shadow=False, color=carla.Color(r=255, g=0, b=0), life_time=1000, persistent_lines=True) # Move spectator cam into a topview close to the spawn point self.carla_world.get_spectator().set_transform( carla.Transform( self.ego_vehicle.get_location() + carla.Location(x=0, y=-10, z=100.0), carla.Rotation(pitch=-80))) self.create_traffic(client, [88, 84, 73, 357])
def prepare_ngsim_scenario(client: carla.Client) -> Scenario: data_dir = os.environ.get("NGSIM_DIR") assert data_dir, "Path to the directory with NGSIM dataset is required" ngsim_map = NGSimDatasets.list() ngsim_dataset = random.choice(ngsim_map) client.load_world(ngsim_dataset.carla_map.level_path) return NGSimLaneChangeScenario( ngsim_dataset, dataset_mode=DatasetMode.TRAIN, data_dir=data_dir, reward_type=RewardType.DENSE, client=client, )
def prepare_opendd_scenario(client: carla.Client) -> Scenario: data_dir = os.environ.get("OPENDD_DIR") assert data_dir, "Path to the directory with openDD dataset is required" maps = ["rdb1", "rdb2", "rdb3", "rdb4", "rdb5", "rdb6", "rdb7"] map_name = random.choice(maps) carla_map = getattr(CarlaMaps, map_name.upper()) client.load_world(carla_map.level_path) return OpenDDScenario( client, dataset_dir=data_dir, dataset_mode=DatasetMode.TRAIN, reward_type=RewardType.DENSE, place_name=map_name, )
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')