def spawn_vehicles(
world: carla.World, # pylint: disable=no-member
num_vehicles: int,
) -> Sequence[carla.Vehicle]: # pylint: disable=no-member
"""Spawns `vehicles` randomly in spawn points.
Args:
world: The world object associated with the simulation.
num_vehicles: The number of vehicles to spawn.
Returns:
The list of vehicles actors.
"""
# Blueprints library.
bl = world.get_blueprint_library()
# List of spawn points.
spawn_points = world.get_map().get_spawn_points()
# Output container
actors = list()
for _ in range(num_vehicles):
# Fetch random blueprint.
vehicle_bp = random.choice(bl.filter("vehicle.*"))
# Attempt to spawn vehicle in random location.
actor = world.try_spawn_actor(vehicle_bp, random.choice(spawn_points))
if actor is not None:
# Enable autopilot.
actor.set_autopilot(True)
# Append actor to the list.
actors.append(actor)
logging.debug("Spawned {} other vehicles".format(len(actors)))
return actors
def spawn_pedestrians(
world: carla.World, # pylint: disable=no-member
num_pedestrians: int,
speeds: Sequence[float] = (1.0, 1.5, 2.0),
) -> Sequence[carla.Vehicle]: # pylint: disable=no-member
"""Spawns `pedestrians` in random locations.
Args:
world: The world object associated with the simulation.
num_pedestrians: The number of pedestrians to spawn.
speeds: The valid set of speeds for the pedestrians.
Returns:
The list of pedestrians actors.
"""
# Blueprints library.
bl = world.get_blueprint_library()
# Output container
actors = list()
for n in range(num_pedestrians):
# Fetch random blueprint.
pedestrian_bp = random.choice(bl.filter("walker.pedestrian.*"))
# Make pedestrian invicible.
pedestrian_bp.set_attribute("is_invincible", "true")
while len(actors) != n:
# Get random location.
spawn_point = carla.Transform() # pylint: disable=no-member
spawn_point.location = world.get_random_location_from_navigation()
if spawn_point.location is None:
continue
# Attempt to spawn vehicle in random location.
actor = world.try_spawn_actor(pedestrian_bp, spawn_point)
player_control = carla.WalkerControl()
player_control.speed = 3
pedestrian_heading = 90
player_rotation = carla.Rotation(0, pedestrian_heading, 0)
player_control.direction = player_rotation.get_forward_vector()
if actor is not None:
actor.apply_control(player_control)
actors.append(actor)
logging.debug("Spawned {} pedestrians".format(len(actors)))
return actors
def spawn_actor(world: carla.World,
blueprint: carla.ActorBlueprint,
spawn_point: carla.Transform,
attach_to: carla.Actor = None,
attachment_type=carla.AttachmentType.Rigid) -> carla.Actor:
"""Tries to spawn an actor in a CARLA simulator.
:param world: a carla.World instance.
:param blueprint: specifies which actor has to be spawned.
:param spawn_point: where to spawn the actor. A transform specifies the location and rotation.
:param attach_to: whether the spawned actor has to be attached (linked) to another one.
:param attachment_type: the kind of the attachment. Can be 'Rigid' or 'SpringArm'.
:return: a carla.Actor instance.
"""
actor = world.try_spawn_actor(blueprint, spawn_point, attach_to,
attachment_type)
if actor is None:
raise ValueError(
f'Cannot spawn actor. Try changing the spawn_point ({spawn_point.location}) to something else.'
)
return actor
