def main():
try:
agent_config = AgentConfig.parse_file(Path("./ROAR_Jetson/configurations/agent_configuration.json"))
jetson_config = JetsonConfig.parse_file(Path("./ROAR_Jetson/configurations/configuration.json"))
try:
prepare(jetson_config=jetson_config)
except Exception as e:
logging.error(f"Ignoring Error during setup: {e}")
agent = PIDAgent(vehicle=Vehicle(), agent_settings=agent_config, should_init_default_cam=False)
jetson_runner = JetsonRunner(agent=agent, jetson_config=jetson_config)
jetson_runner.start_game_loop(use_manual_control=False)
except Exception as e:
print(f"Something bad happened {e}")
def main():
agent_config = AgentConfig.parse_file(
Path("./ROAR_Sim/configurations/agent_configuration.json"))
carla_config = CarlaConfig.parse_file(
Path("./ROAR_Sim/configurations/configuration.json"))
carla_runner = CarlaRunner(carla_settings=carla_config,
agent_settings=agent_config,
npc_agent_class=PurePursuitAgent)
try:
my_vehicle = carla_runner.set_carla_world()
agent = PIDAgent(vehicle=my_vehicle, agent_settings=agent_config)
carla_runner.start_game_loop(agent=agent, use_manual_control=False)
except Exception as e:
logging.error(f"Something bad happened during initialization: {e}")
carla_runner.on_finish()
logging.error(f"{e}. Might be a good idea to restart Server")
def main():
"""Starts game loop"""
carla_config = CarlaConfig.parse_file(Path("./ROAR_Sim/configurations/configuration.json"))
agent_config = AgentConfig.parse_file(Path("./ROAR_Sim/configurations/agent_configuration.json"))
"""
Pit Stop:
Use different kinds of 'set' functions at PitStop to tune/fix your own car!
"""
pitstop = PitStop(carla_config, agent_config)
pitstop.set_carla_version(version = "0.9.9")
pitstop.set_carla_sync_mode(False)
pitstop.set_autopilot_mode(True)
pitstop.set_car_color(CarlaCarColor(r = 255,g = 200,b = 00,a = 255))
pitstop.set_num_laps(num=1)
pitstop.set_output_data_folder_path("./data/output")
pitstop.set_output_data_file_name(time.strftime("%Y%m%d-%H%M%S-") + "map-waypoints")
pitstop.set_max_speed(speed = 200)
pitstop.set_target_speed(speed = 30)
print(agent_config.target_speed, " target speed")
pitstop.set_steering_boundary(boundary = (-1.0, 1.0))
pitstop.set_throttle_boundary(boundary = (0, 0.5))
pitstop.set_waypoints_look_ahead_values(values={
"60": 5,
"80": 10,
"120": 20,
"180": 50})
pid_value = {
"longitudinal_controller": {
"40": {
"Kp": 0.8,
"Kd": 0.2,
"Ki": 0
},
"60": {
"Kp": 0.5,
"Kd": 0.2,
"Ki": 0
},
"150": {
"Kp": 0.2,
"Kd": 0.1,
"Ki": 0.1
}
},
"latitudinal_controller": {
"60": {
"Kp": 0.8,
"Kd": 0.1,
"Ki": 0.1
},
"100": {
"Kp": 0.6,
"Kd": 0.2,
"Ki": 0.1
},
"150": {
"Kp": 0.5,
"Kd": 0.2,
"Ki": 0.1
}
}
}
pitstop.set_pid_values(pid_value)
"""Passing configurations to Carla and Agent"""
carla_runner = CarlaRunner(carla_settings=carla_config, # ROAR Academy: fine
agent_settings=agent_config, # ROAR Academy: fine
npc_agent_class=PurePursuitAgent)
try:
my_vehicle = carla_runner.set_carla_world()
agent = PIDAgent(vehicle=my_vehicle, agent_settings=agent_config)
# agent = WaypointGeneratigAgent(vehicle=my_vehicle, agent_settings=agent_config)
carla_runner.start_game_loop(agent=agent, use_manual_control=False) # for PIDAgent
# carla_runner.start_game_loop(agent=agent, use_manual_control=True) # for WaypointGeneratingAgent
except Exception as e:
logging.error(f"Something bad happened during initialization: {e}")
carla_runner.on_finish()
logging.error(f"{e}. Might be a good idea to restart Server")