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()
way_points = [((-277.08,-15.39),20),
((-30.08,-15.39),10),
((-12.0,-12.0),10),
(( -9, 0.0),20),
(( -9, 50),0)
]
'''
start = (-277.08, -15.39)
end = (-9, 50)
constant_speed = 20
try:
throttles, speed, reference_speed = pure_pursuit_control_wrapper(
env, start, end, model_uniquename, constant_speed)
fig, a = plt.subplots(3, 1)
#plt.subplot(3,1,1)
a[0].plot(reference_speed)
a[0].set_title('reference speed')
#plt.subplot(3,1,2)
a[1].plot(throttles)
a[1].set_title('throttle applied')
a[2].plot(speed)
a[2].set_title('measured speed')
finally:
env.destroy_actors()