def world_loop(opts_dict):
params = {
'spawn': 15,
'weather': 'clear_noon',
'n_vehicles': 0
}
with cu.CarlaWrapper(TOWN, cu.VEHICLE_NAME, PORT) as env:
env.init(**params)
agent = RoamingAgent(env._player, False, opts_dict)
# Hack: fill up controller experience.
for _ in range(30):
env.tick()
env.apply_control(agent.run_step()[0])
for _ in tqdm.tqdm(range(125)):
env.tick()
observations = env.get_observations()
inputs = cu.get_inputs(observations)
debug = dict()
control, command = agent.run_step(inputs, debug_info=debug)
env.apply_control(control)
observations.update({'control': control, 'command': command})
processed = cu.process(observations)
yield debug
bzu.show_image('rgb', processed['rgb'])
bzu.show_image('birdview', cu.visualize_birdview(processed['birdview']))
def game_loop(args):
pygame.init()
pygame.font.init()
world = None
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
#world=client.load_world('Town02')
#print(client.get_available_maps())
display = pygame.display.set_mode((args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args.filter)
controller = KeyboardControl(world, False)
rgb_manager = CameraManager(world.player, hud)
frame_manager = CameraManager(world.player, hud)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
else:
agent = BasicAgent(world.player)
spawn_point = world.map.get_spawn_points()[0]
agent.set_destination(
(spawn_point.location.x, spawn_point.location.y,
spawn_point.location.z))
rgb_manager.set_sensor(0, True)
frame_manager.set_sensor_frame(0, True)
rgb_manager.toggle_camera()
frame_manager.toggle_camera_frame()
rgb_manager.toggle_recording()
frame_manager.toggle_recording_frame()
clock = pygame.time.Clock()
while True:
if controller.parse_events(client, world, clock):
return
# as soon as the server is ready continue!
if not world.world.wait_for_tick(10.0):
continue
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
finally:
world.destroy_sensors()
if world is not None:
world.destroy()
pygame.quit()
def game_loop(args):
pygame.init()
pygame.font.init()
world = None
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
display = pygame.display.set_mode(
(args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args.filter)
controller = KeyboardControl(world, False)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
else:
agent = BasicAgent(world.player)
list = world.map.get_spawn_points()
if list == []:
spawn_point = carla.Transform()
else:
spawn_point = list[0]
agent.set_destination((spawn_point.location.x,
spawn_point.location.y,
spawn_point.location.z))
clock = pygame.time.Clock()
while True:
if controller.parse_events(client, world, clock):
return
# as soon as the server is ready continue!
if not world.world.wait_for_tick(10.0):
continue
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
finally:
if world is not None:
world.destroy()
pygame.quit()
def game_loop(args):
""" Main loop for agent"""
pygame.init()
pygame.font.init()
world = None
tot_target_reached = 0
num_min_waypoints = 21
rand_int = np.random.randint(100)
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
client.load_world('Town0%d' % args.town)
client.reload_world()
display = pygame.display.set_mode((args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args)
controller = KeyboardControl(world)
# map_dir = "/home/yash/Downloads/CARLA_0.9.9/PythonAPI/examples/Recordings_%d/" % args.town
map_dir = "D:\\CARLA\\WindowsNoEditor\\PythonAPI\\examples\\Recordings_%d\\" % args.town
map_obj = ParseCarlaMap(map_dir)
points = [46, 81, 132, 10, 40, 14, 110, 71, 58, 4]
edges = list(permutations(points, 2))
edge_table = np.zeros(shape=(len(edges), 3), dtype=np.float32)
edge_table[:, 0:2] = edges
for index in range(edge_table.shape[0]):
spawn_index, dest_index = edge_table[index, 0:2].astype(np.int)
spawn_loc = carla.Location(
x=map_obj.node_dict["location"]["x"][spawn_index],
y=map_obj.node_dict["location"]["y"][spawn_index],
z=map_obj.node_dict["location"]["z"][spawn_index])
spawn_rot = carla.Rotation(
roll=map_obj.node_dict["rotation"]["roll"][spawn_index],
pitch=map_obj.node_dict["rotation"]["pitch"][spawn_index],
yaw=map_obj.node_dict["rotation"]["yaw"][spawn_index])
spawn_pt = carla.Transform(location=spawn_loc, rotation=spawn_rot)
dest_loc = carla.Location(
x=map_obj.node_dict["location"]["x"][dest_index],
y=map_obj.node_dict["location"]["y"][dest_index],
z=map_obj.node_dict["location"]["z"][dest_index])
# dest_rot = carla.Rotation(roll=map_obj.node_dict["rotation"]["roll"][dest_index],
# pitch=map_obj.node_dict["rotation"]["pitch"][dest_index],
# yaw=map_obj.node_dict["rotation"]["yaw"][dest_index])
# dest_pt = carla.Transform(location=dest_loc, rotation=dest_rot)
world.restart(args, spawn_pt=spawn_pt)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
elif args.agent == "Basic":
agent = BasicAgent(world.player)
spawn_point = world.map.get_spawn_points()[0]
agent.set_destination(
(spawn_point.location.x, spawn_point.location.y,
spawn_point.location.z))
else:
agent = BehaviorAgent(
world.player,
ignore_traffic_light=args.ignore_traffic_light,
behavior=args.behavior)
agent.set_destination(agent.vehicle.get_location(),
dest_loc,
clean=True)
clock = pygame.time.Clock()
start_time = time.time()
while True:
clock.tick_busy_loop(60)
if controller.parse_events():
return
# As soon as the server is ready continue!
if not world.world.wait_for_tick(10.0):
continue
if args.agent == "Roaming" or args.agent == "Basic":
if controller.parse_events():
return
# as soon as the server is ready continue!
world.world.wait_for_tick(10.0)
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
else:
agent.update_information(world)
world.tick(clock)
world.render(display)
pygame.display.flip()
# Set new destination when target has been reached
if len(agent.get_local_planner().waypoints_queue
) < num_min_waypoints and args.loop:
agent.reroute(spawn_points)
tot_target_reached += 1
world.hud.notification("The target has been reached " +
str(tot_target_reached) +
" times.",
seconds=4.0)
elif len(agent.get_local_planner().waypoints_queue
) == 0 and not args.loop:
print("Target reached, mission accomplished...")
break
speed_limit = world.player.get_speed_limit()
agent.get_local_planner().set_speed(speed_limit)
control = agent.run_step()
world.player.apply_control(control)
if time.time() - start_time >= 280:
break
edge_table[index, 2] = time.time() - start_time
print("edge %d was completed in %3.3f seconds" %
(index, edge_table[index, 2]))
np.savetxt('Carla_0%d_%d.csv' % (args.town, rand_int),
edge_table,
fmt="%3d,%3d,%3.3f")
finally:
if world is not None:
world.destroy()
pygame.quit()
def game_loop(args):
""" Main loop for agent"""
pygame.init()
pygame.font.init()
world = None
original_settings = None
tot_target_reached = 0
num_min_waypoints = 21
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
display = pygame.display.set_mode((args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args)
# make synchronous and disable keyboard controller BEGIN
logging.info("make synchronous and disable keyboard controller")
original_settings = world.world.get_settings()
settings = world.world.get_settings()
traffic_manager = client.get_trafficmanager(8000)
traffic_manager.set_synchronous_mode(True)
delta = 0.06
settings.fixed_delta_seconds = delta
settings.synchronous_mode = True
world.world.apply_settings(settings)
# END
controller = KeyboardControl(world)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
elif args.agent == "Basic":
agent = BasicAgent(world.player)
spawn_point = world.map.get_spawn_points()[0]
agent.set_destination(
(spawn_point.location.x, spawn_point.location.y,
spawn_point.location.z))
else:
agent = BehaviorAgent(world.player, behavior=args.behavior)
spawn_points = world.map.get_spawn_points()
random.shuffle(spawn_points)
if spawn_points[0].location != agent.vehicle.get_location():
destination = spawn_points[0].location
else:
destination = spawn_points[1].location
agent.set_destination(agent.vehicle.get_location(),
destination,
clean=True)
clock = pygame.time.Clock()
while True:
clock.tick_busy_loop(60)
world.world.tick() # synchronous
hud.on_world_tick(world.world.get_snapshot().timestamp)
if controller.parse_events():
return
# As soon as the server is ready continue!
# if not world.world.wait_for_tick(10.0):
# continue
if args.agent == "Roaming" or args.agent == "Basic":
if controller.parse_events():
return
# as soon as the server is ready continue!
# world.world.wait_for_tick(10.0)
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
else:
agent.update_information()
world.tick(clock)
world.render(display)
pygame.display.flip()
# Set new destination when target has been reached
if len(agent.get_local_planner().waypoints_queue
) < num_min_waypoints and args.loop:
agent.reroute(spawn_points)
tot_target_reached += 1
world.hud.notification("The target has been reached " +
str(tot_target_reached) + " times.",
seconds=4.0)
elif len(agent.get_local_planner().waypoints_queue
) == 0 and not args.loop:
print("Target reached, mission accomplished...")
break
speed_limit = world.player.get_speed_limit()
agent.get_local_planner().set_speed(speed_limit)
control = agent.run_step()
world.player.apply_control(control)
finally:
if world is not None:
if original_settings is not None:
world.world.apply_settings(original_settings)
world.destroy()
pygame.quit()
def game_loop(args):
""" Main loop for agent"""
pygame.init()
pygame.font.init()
world = None
tot_target_reached = 0
num_min_waypoints = 21
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
display = pygame.display.set_mode((args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args)
controller = KeyboardControl(world)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
elif args.agent == "Basic":
agent = BasicAgent(world.player)
spawn_point = world.map.get_spawn_points()[0]
agent.set_destination(
(spawn_point.location.x, spawn_point.location.y,
spawn_point.location.z))
else:
agent = BehaviorAgent(world.player, behavior=args.behavior)
spawn_points = world.map.get_spawn_points()
random.shuffle(spawn_points)
if spawn_points[0].location != agent.vehicle.get_location():
destination = spawn_points[0].location
else:
destination = spawn_points[1].location
agent.set_destination(agent.vehicle.get_location(),
destination,
clean=True)
clock = pygame.time.Clock()
while True:
clock.tick_busy_loop(60)
if controller.parse_events():
return
# As soon as the server is ready continue!
if not world.world.wait_for_tick(10.0):
continue
if args.agent == "Roaming" or args.agent == "Basic":
if controller.parse_events():
return
# as soon as the server is ready continue!
world.world.wait_for_tick(10.0)
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
else:
agent.update_information()
world.tick(clock)
world.render(display)
pygame.display.flip()
# if world.save_count<5:
# world.camera_manager.image.save_to_disk('_out/%08d' % image.frame)
# world.save_count+=1
# Set new destination when target has been reached
if len(agent.get_local_planner().waypoints_queue
) < num_min_waypoints and args.loop:
agent.reroute(spawn_points)
tot_target_reached += 1
world.hud.notification("The target has been reached " +
str(tot_target_reached) + " times.",
seconds=4.0)
elif len(agent.get_local_planner().waypoints_queue
) == 0 and not args.loop:
print("Target reached, mission accomplished...")
break
speed_limit = world.player.get_speed_limit()
agent.get_local_planner().set_speed(speed_limit)
control = agent.run_step()
world.player.apply_control(control)
finally:
if world is not None:
world.destroy1()
pygame.quit()
def game_loop(args):
pygame.init()
pygame.font.init()
world = None
#f = open('location_list.txt', 'r')
i = 0
location_list = [
[500, 5.25, 31.0, 0.0, 0.0],
[
475.4852470983795, 5.678740381744522, 30.0, 0.011942474433034074,
9.481388061770087
],
[
472.1113589818001, 5.715332086040473, 29.0, 0.012105306942113502,
9.012409139522038
],
[
454.0871193356091, 5.8597591238060405, 28.0, 0.012903765907572399,
8.997941150502005
],
[
436.09148605811964, 5.765087408368869, 27.0, 0.013219133555865806,
7.907664017308204
],
[
420.27927717255363, 5.450999838173674, 26.0, 0.012969219540954719,
2.6903561539015364
],
[
414.90291419050664, 5.234699064670276, 25.0, 0.012616014874265873,
5.500995187472245
],
[
403.90286894692605, 5.027825070288866, 24.0, 0.012447461468861111,
9.710390691465745
],
[
384.48235362442995, 4.926168135884138, 23.0, 0.012811767710883288,
9.985278899462706
],
[
364.51211033566875, 4.814088753707787, 22.0, 0.013206169974161696,
7.8825923991263895
],
[
348.7487507701559, 5.053978168677228, 21.0, 0.014490731237345338,
4.500000000000008
], [339.749, 4.987, 20.0, 0.014677429171226393, 10.078971599325023],
[319.592, 5.182, 19.0, 0.016213002649283742, 11.495219267156243],
[296.602, 5.324, 18.0, 0.017948052642080513, 13.122339625615528],
[270.36, 4.949, 17.0, 0.018303178498518525, 11.423603229740003],
[
247.51286058561587, 5.0043496323322945, 16.0, 0.02021578951147572,
4.500602163768276
],
[
238.5129217492751, 5.037530080270346, 15.0, 0.021117435478132073,
12.529842286551135
],
[
213.45347683222624, 4.927933762933469, 14.0, 0.02308258733630485,
4.5
],
[
204.45529975615295, 5.109067160265785, 13.0, 0.024983476288845008,
4.499999999999997
], [195.457, 5.284, 12.0, 0.027027496118305478, 8.689527849659033],
[178.078, 5.24, 11.0, 0.02941681979829673, 11.581500388550705],
[154.915, 5.246, 10.0, 0.03385079618528805, 13.327193937584907],
[128.262, 4.974, 9.0, 0.038760574456180405, 6.338593889815],
[115.585, 5.043, 8.0, 0.04360257562440571, 9.88808981805889],
[95.81, 4.827, 7.0, 0.050338400773856, 7.777515445179138],
[80.255, 4.858, 6.0, 0.060458283762458445, 7.375550860783211],
[65.506, 5.107, 5.0, 0.07780494272413684, 6.951037493288717],
[
51.60396193342049, 5.0749605275278284, 4.0, 0.09802917448443067,
4.500000000000002
],
[42.60499983592313, 4.938281458881817, 3.0, 0.11539357217913827, 4.5],
[33.605, 4.94, 2.0, 0.14595657222297126, 8.715192998436693],
[16.175, 5.056, 1.0, 0.30295879121347374, 8.088081679236431],
[0, 5.25, 0.0, 0.0, 0.0]
]
location_list.reverse()
for location in location_list:
location[0] += -315.8
location[1] += 25
print(location_list)
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
display = pygame.display.set_mode((args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args.filter)
controller = KeyboardControl(world, False)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
else:
agent = BasicAgent(world.player)
spawn_point = carla.Location(x=-315.791, y=29.9778, z=4.17103)
print(spawn_point)
waypoint = world.map.get_waypoint(world.player.get_location())
target = world.map.get_waypoint(
carla.Location(location_list[i][0], location_list[i][1], 0))
if waypoint.transform.location.distance(
carla.Location(location_list[i][0], location_list[i][1],
0)) < 0.1:
i += 1
agent.set_destination(
(location_list[i][0], location_list[i][1], 0))
print(1)
clock = pygame.time.Clock()
while True:
if controller.parse_events(client, world, clock):
return
# as soon as the server is ready continue!
if not world.world.wait_for_tick(10.0):
continue
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
finally:
if world is not None:
world.destroy()
pygame.quit()
def main():
# The actor list is necessary, because we need to keep track of all created actors.
# Thatway, we can delete all actors at the end.
actor_list = []
# In this tutorial script, we are going to add a vehicle to the simulation
# and let it drive in autopilot. We will also create a camera attached to
# that vehicle, and save all the images generated by the camera to disk.
try:
# First of all, we need to create the client that will send the requests
# to the simulator. Here we'll assume the simulator is accepting
# requests in the localhost at port 2000# print(current_vehicle_waypoint.transform.location).
client = carla.Client('localhost', 2000)
client.set_timeout(2.0)
# Once we have a client we can retrieve the world that is currently
# running.
world = client.get_world()
# Get the map of the World
map = world.get_map()
# The world contains the list blueprints that we can use for adding new
# actors into the simulation.
blueprint_library = world.get_blueprint_library()
# Now let's filter all the blueprints of type 'vehicle' and choose one
# at random.
bp = random.choice(blueprint_library.filter('vehicle'))
# choose first possible spawn point
transform = world.get_map().get_spawn_points()[0]
print(transform)
# So let's tell the world to spawn the vehicle.
vehicle = world.spawn_actor(bp, transform)
# It is important to note that the actors we create won't be destroyed
# unless we call their "destroy" function. If we fail to call "destroy"
# they will stay in the simulation even after we quit the Python script.
# For that reason, we are storing all the actors we create so we can
# destroy them afterwards.
actor_list.append(vehicle)
print('created %s' % vehicle.type_id)
# create an RoamingAgent object
roaming_agent = RoamingAgent(vehicle)
start_time = time.time()
bRunSim = True
# run the simulation
while bRunSim:
# run step and apply control
control = roaming_agent.run_step()
# apply the control object
vehicle.apply_control(control)
# get spectator,
spectator = world.get_spectator()
# get ego vehicle transform for spectator transform
spectator_transform = vehicle.get_transform()
# go backwards
forward_vector = spectator_transform.get_forward_vector()
print(forward_vector)
view_distance = 8
spectator_transform.location.x -= forward_vector.x * view_distance
spectator_transform.location.y -= forward_vector.y * view_distance
# spectator upwards
spectator_transform.location.z += 3
# look downwards
spectator_transform.rotation.pitch -= 20
# set spectator position
spectator.set_transform(spectator_transform)
# print(spectator.get_transform())
time.sleep(1.0 / 60)
if (time.time() - start_time) > actor_duration:
bRunSim = False
finally:
print('destroying actors')
for actor in actor_list:
actor.destroy()
print('done.')
def game_loop(args):
""" Main loop for agent"""
pygame.init()
pygame.font.init()
world = None
tot_target_reached = 0
num_min_waypoints = 21
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
display = pygame.display.set_mode((args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args)
controller = KeyboardControl(world)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
elif args.agent == "Basic":
agent = BasicAgent(world.player)
spawn_point = world.map.get_spawn_points()[0]
agent.set_destination(
(spawn_point.location.x, spawn_point.location.y,
spawn_point.location.z))
else:
# start and destination
agent = BehaviorAgent(world.player, behavior=args.behavior)
spawn_points = world.map.get_spawn_points() # 7 spawn points
# --- !!! modify: start and destination --- #
# start --> destination way-points
start = agent.vehicle.get_location()
# end 1 and end 2
destination = spawn_points[1].location
agent.set_destination(start, destination, clean=True)
# --- draw the waypoints --- #
waypoints = agent._local_planner.waypoints_queue
for w in waypoints:
world.world.debug.draw_string(w[0].transform.location,
'O',
draw_shadow=False,
color=carla.Color(r=255,
g=0,
b=0),
life_time=120.0,
persistent_lines=True)
# -------------------------------------------------------------------------- #
# random.shuffle(spawn_points)
# if spawn_points[0].location != agent.vehicle.get_location():
# destination = spawn_points[0].location
# else:
# destination = spawn_points[1].location
# agent.set_destination(agent.vehicle.get_location(), destination, clean=True)
clock = pygame.time.Clock()
time_step = 0
with open('driving_log.csv', 'a') as csv_file:
writer = csv.writer(csv_file,
delimiter=',',
quotechar=' ',
quoting=csv.QUOTE_MINIMAL,
lineterminator='\n')
while True:
time_step += 1
clock.tick_busy_loop(10.0)
if controller.parse_events():
return
# As soon as the server is ready continue!
if not world.world.wait_for_tick(10.0):
continue
if args.agent == "Roaming" or args.agent == "Basic":
if controller.parse_events():
return
# as soon as the server is ready continue!
world.world.wait_for_tick(10.0)
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
else:
agent.update_information(world)
world.tick(clock)
world.render(display)
pygame.display.flip()
# Set new destination when target has been reached
if len(agent.get_local_planner().waypoints_queue
) < num_min_waypoints and args.loop:
agent.reroute(spawn_points)
tot_target_reached += 1
world.hud.notification("The target has been reached " +
str(tot_target_reached) +
" times.",
seconds=4.0)
elif len(agent.get_local_planner().waypoints_queue
) == 0 and not args.loop:
print("Target reached, mission accomplished...")
break
# --- modify limit speed --- #
speed_limit = world.player.get_speed_limit()
agent.get_local_planner().set_speed(speed_limit)
control = agent.run_step()
world.player.apply_control(control)
# --- save the image and vehicle information --- #
# save the camera-rgb image
image_name = str(world.camera_manager.image_name) + '.png'
pos = agent.vehicle.get_location() # position
vel = agent.vehicle.get_velocity()
velocity = 3.6 * math.sqrt(
vel.x**2 + vel.y**2 + vel.z**2) # velocity
steer = round(control.steer, 5) # steer
throttle = round(control.throttle, 5)
writer.writerow([image_name, steer, throttle])
finally:
if world is not None:
world.destroy()
pygame.quit()
def game_loop(args):
pygame.init()
pygame.font.init()
world = None
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
display = pygame.display.set_mode((args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args.filter)
controller = KeyboardControl(world, False)
map = world.world.get_map()
distance = 2
waypoints = map.generate_waypoints(distance)
for w in waypoints:
world.world.debug.draw_string(w.transform.location,
'O',
draw_shadow=False,
color=carla.Color(r=255, g=0, b=0),
life_time=120.0,
persistent_lines=True)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
else:
agent = BasicAgent(world.player)
spawn_point = world.map.get_spawn_points()[0]
agent.set_destination(
(spawn_point.location.x, spawn_point.location.y,
spawn_point.location.z))
clock = pygame.time.Clock()
while True:
if controller.parse_events(client, world, clock):
return
map = world.world.get_map()
distance = 2
waypoints = map.generate_waypoints(distance)
# for w in waypoints:
# print("waypoint", w)
# world.world.debug.draw_string(w.transform.location, 'O', draw_shadow=False,
# color=carla.Color(r=255, g=0, b=0), life_time=120.0,
# persistent_lines=True)
# # as soon as the server is ready continue!
world.world.wait_for_tick(10.0)
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
finally:
if world is not None:
world.destroy()
pygame.quit()
