def _build_master_scenario(self,
world,
ego_vehicle,
route,
town_name,
timeout=300,
debug_mode=False):
"""
Create the MasterScenario
"""
# We have to find the target.
# we also have to convert the route to the expected format
master_scenario_configuration = ScenarioConfiguration()
master_scenario_configuration.target = route[-1][
0] # Take the last point and add as target.
master_scenario_configuration.route = convert_transform_to_location(
route)
master_scenario_configuration.town = town_name
# TODO THIS NAME IS BIT WEIRD SINCE THE EGO VEHICLE IS ALREADY THERE, IT IS MORE ABOUT THE TRANSFORM
master_scenario_configuration.ego_vehicle = ActorConfigurationData(
'vehicle.lincoln.mkz2017', ego_vehicle.get_transform(), 'hero')
master_scenario_configuration.trigger_points = [
ego_vehicle.get_transform()
]
# Provide an initial blackboard entry to ensure all scenarios are running correctly
blackboard = py_trees.blackboard.Blackboard()
blackboard.set('master_scenario_command', 'scenarios_running')
return MasterScenario(world, [ego_vehicle],
master_scenario_configuration,
timeout=timeout,
debug_mode=debug_mode)
def build_master_scenario(self, route, town_name, timeout, terminate_on_collision):
# We have to find the target.
# we also have to convert the route to the expected format
master_scenario_configuration = ScenarioConfiguration()
master_scenario_configuration.target = route[-1][0] # Take the last point and add as target.
master_scenario_configuration.route = convert_transform_to_location(route)
master_scenario_configuration.town = town_name
master_scenario_configuration.ego_vehicle = ActorConfigurationData('vehicle.lincoln.mkz2017',
self._ego_actor.get_transform())
master_scenario_configuration.trigger_point = self._ego_actor.get_transform()
CarlaDataProvider.register_actor(self._ego_actor)
return MasterScenario(self.world, [self._ego_actor], master_scenario_configuration,
timeout=timeout, terminate_on_collision=terminate_on_collision)