def main():
try:
client = carla.Client("localhost", 2000)
client.set_timeout(10.0)
world = client.load_world('Town05')
# set the weather
weather = carla.WeatherParameters(cloudiness=10.0,
precipitation=0.0,
sun_altitude_angle=90.0)
world.set_weather(weather)
# set the spectator position for demo purpose
spectator = world.get_spectator()
spectator.set_transform(
carla.Transform(
carla.Location(x=26.6, y=1.29, z=75.0),
carla.Rotation(pitch=-88.0, yaw=-1.85,
roll=1.595))) # top view of intersection
env = CARLA_ENV(world)
time.sleep(2) # sleep for 2 seconds, wait the initialization to finish
traffic_light_list = get_traffic_lights(world.get_actors())
intersection_list = []
# intersection 1
world_pos = (25.4, 0.0)
intersection1 = Intersection(env, world_pos, traffic_light_list)
intersection1.add_vehicle(run=True)
intersection1.add_vehicle(command="left", run=True)
intersection1.add_vehicle(command="right", run=True)
intersection1.add_vehicle(gap=5, choice="left")
intersection1.add_vehicle(gap=5, choice="left", command="right")
intersection1.add_vehicle(gap=5, choice="left", command="left")
intersection1.add_vehicle(choice="right")
intersection1.add_vehicle(choice="right", command="left")
intersection1.add_vehicle(gap=15.0, choice="right", command="right")
intersection1.add_vehicle(choice="ahead", run=True)
intersection1.add_vehicle(choice="ahead", command="right", run=True)
intersection1.add_vehicle(choice="ahead", command="left", run=True)
intersection1.start_simulation()
intersection_list.append(intersection1)
multiple_vehicle_control(env, intersection_list)
finally:
time.sleep(10)
env.destroy_actors()
def main():
try:
client = carla.Client("localhost",2000)
client.set_timeout(10.0)
world = client.load_world('Town05')
# set the weather
weather = carla.WeatherParameters(
cloudiness=10.0,
precipitation=0.0,
sun_altitude_angle=90.0)
world.set_weather(weather)
# set the spectator position for demo purpose
spectator = world.get_spectator()
spectator.set_transform(carla.Transform(carla.Location(x=-190, y=1.29, z=75.0), carla.Rotation(pitch=-88.0, yaw= -1.85, roll=1.595))) # top view of intersection
env = CARLA_ENV(world)
time.sleep(2) # sleep for 2 seconds, wait the initialization to finish
traffic_light_list = get_traffic_lights(world.get_actors())
intersection_list = create_intersections(env, 4, traffic_light_list)
init_intersection = intersection_list[0]
normal_intersections = intersection_list[1:]
init_intersection.add_ego_vehicle(safety_distance = 15.0 )
init_intersection.add_follow_vehicle(follow_distance = 20.0)
init_intersection.add_lead_vehicle(lead_distance = 20.0)
init_intersection.add_vehicle(choice = "left")
init_intersection.add_vehicle(choice = "right",command="left")
init_intersection.add_vehicle(choice = "ahead",command="left")
init_intersection.add_vehicle(choice = "ahead",command = "right")
intersection_list[1].add_vehicle(choice = "ahead")
intersection_list[1].add_vehicle(choice = "left",command="left")
intersection_list[1].add_vehicle(choice = "right",command = "left")
intersection_list[1].add_vehicle(choice = "right",command = "right")
intersection_list[1]._shift_vehicles(-10, choice = "right",index = 0)
intersection_list[2].add_vehicle(choice = "ahead")
intersection_list[2].add_vehicle(choice = "left",command="left")
intersection_list[2].add_vehicle(choice = "right",command = "left")
intersection_list[2].add_vehicle(choice = "right",command = "right")
intersection_list[3].add_vehicle(command = "left")
intersection_list[3].add_vehicle()
IntersectionBackend(env,intersection_list)
finally:
time.sleep(10)
env.destroy_actors()
def main():
try:
client = carla.Client("localhost", 2000)
client.set_timeout(10.0)
world = client.load_world('Town06')
# set the weather
world = client.get_world()
weather = carla.WeatherParameters(cloudiness=10.0,
precipitation=0.0,
sun_altitude_angle=90.0)
world.set_weather(weather)
# set the spectator position for demo purpose
spectator = world.get_spectator()
spectator.set_transform(
carla.Transform(
carla.Location(x=-68.29, y=151.75, z=170.8),
carla.Rotation(pitch=-31.07, yaw=-90.868,
roll=1.595))) # plain ground
env = CARLA_ENV(world)
time.sleep(2)
# get map
carla_map = env.world.get_map()
start_raw = carla.Location(x=-277.08, y=-15.39, z=4.94)
destination_raw = carla.Location(x=-9.0, y=-50.0, z=0.0)
start = carla_map.get_waypoint(start_raw)
destination = carla_map.get_waypoint(destination_raw)
trajectory = generate_path(env,
start,
destination,
waypoint_separation=50)
finally:
return trajectory
# set the weather
world = client.get_world()
weather = carla.WeatherParameters(cloudiness=10.0,
precipitation=0.0,
sun_altitude_angle=90.0)
world.set_weather(weather)
# set the spectator position for demo purpose
spectator = world.get_spectator()
spectator.set_transform(
carla.Transform(carla.Location(x=-68.29, y=151.75, z=170.8),
carla.Rotation(pitch=-31.07, yaw=-90.868,
roll=1.595))) # plain ground
env = CARLA_ENV(world)
time.sleep(2) # sleep for 2 seconds, wait the initialization to finish
# spawn a vehicle, here I choose a Tesla model
spawn_point = carla.Transform(
carla.Location(x=-277.08, y=-15.39, z=4.94),
carla.Rotation(pitch=0.000000, yaw=0, roll=0.000000))
model_name = "vehicle.tesla.model3"
model_uniquename = env.spawn_vehicle(
model_name, spawn_point
) # spawn the model and get the uniquename, the CARLA_ENV class will store the vehicle into vehicle actor list
time.sleep(5)
'''
way_points = [((-277.08,-15.39),20),
((-30.08,-15.39),10),
def main():
try:
client = carla.Client("localhost", 2000)
client.set_timeout(10.0)
world = client.load_world('Town05')
# set the weather
world = client.get_world()
weather = carla.WeatherParameters(cloudiness=10.0,
precipitation=0.0,
sun_altitude_angle=90.0)
world.set_weather(weather)
# set the spectator position for demo purpose
spectator = world.get_spectator()
spectator.set_transform(
carla.Transform(
carla.Location(x=0.0, y=0.0, z=20.0),
carla.Rotation(pitch=-31.07, yaw=-90.868,
roll=1.595))) # plain ground
env = CARLA_ENV(world)
time.sleep(2)
# get map
carla_map = env.world.get_map()
start_raw = carla.Location(x=-0.19, y=6.65, z=0.0)
destination_raw = carla.Location(x=24.18125, y=35.5, z=0.0)
world.debug.draw_point(start_raw,
size=0.15,
color=red,
life_time=0.0,
persistent_lines=True)
world.debug.draw_point(destination_raw,
size=0.15,
color=red,
life_time=0.0,
persistent_lines=True)
start = carla_map.get_waypoint(start_raw)
destination = carla_map.get_waypoint(destination_raw)
world.debug.draw_point(start.transform.location,
size=0.15,
color=blue,
life_time=0.0,
persistent_lines=True)
world.debug.draw_point(destination.transform.location,
size=0.15,
color=blue,
life_time=0.0,
persistent_lines=True)
trajectory = generate_path(env,
start,
destination,
waypoint_separation=10)
finally:
return trajectory
time.sleep(5)
#world = client.get_world()
spectator = world.get_spectator()
spectator.set_transform(
carla.Transform(carla.Location(x=-68.29, y=151.75, z=170.8),
carla.Rotation(pitch=-31.07, yaw=-90.868,
roll=1.595))) # plain ground
#spectator.set_transform(carla.Transform(carla.Location(x=79.95, y=-13.13, z=84.69), carla.Rotation(pitch=-47.2, yaw= -90.86, roll=0.000000))) #slope
'''
weather = carla.WeatherParameters(
cloudiness=10.0,
precipitation=0.0,
sun_altitude_angle=90.0)
world.set_weather(weather)
'''
env = CARLA_ENV(world)
time.sleep(2)
try:
'''
throttle_signal , forward_speed = get_frequency_response_data(env,10,10)
plt.subplot(2,1,1)
plt.plot(throttle_signal)
plt.subplot(2,1,2)
plt.plot(forward_speed)
'''
throttles, speed, reference_speed = speed_control_wrapper(env, 20)
fig, a = plt.subplots(3, 1)
#plt.subplot(3,1,1)
a[0].plot(reference_speed)