def _prepare_ego_vehicles(self, ego_vehicles):
"""
Spawn or update the ego vehicles
"""
if not self._args.waitForEgo:
for vehicle in ego_vehicles:
self.ego_vehicles.append(CarlaActorPool.setup_actor(vehicle.model,
vehicle.transform,
vehicle.rolename,
True,
color=vehicle.color,
actor_category=vehicle.category))
else:
ego_vehicle_missing = True
while ego_vehicle_missing:
self.ego_vehicles = []
ego_vehicle_missing = False
for ego_vehicle in ego_vehicles:
ego_vehicle_found = False
carla_vehicles = CarlaDataProvider.get_world().get_actors().filter('vehicle.*')
for carla_vehicle in carla_vehicles:
if carla_vehicle.attributes['role_name'] == ego_vehicle.rolename:
ego_vehicle_found = True
self.ego_vehicles.append(carla_vehicle)
break
if not ego_vehicle_found:
ego_vehicle_missing = True
break
for i, _ in enumerate(self.ego_vehicles):
self.ego_vehicles[i].set_transform(ego_vehicles[i].transform)
# sync state
CarlaDataProvider.get_world().tick()
def prepare_ego_vehicles(self, config, wait_for_ego_vehicles=False):
"""
Spawn or update the ego vehicle according to
its parameters provided in config
As the world is re-loaded for every scenario, no ego exists so far
"""
if not wait_for_ego_vehicles:
for vehicle in config.ego_vehicles:
self.ego_vehicles.append(CarlaActorPool.setup_actor(vehicle.model,
vehicle.transform,
vehicle.rolename,
True))
else:
ego_vehicle_missing = True
while ego_vehicle_missing:
self.ego_vehicles = []
ego_vehicle_missing = False
for ego_vehicle in config.ego_vehicles:
ego_vehicle_found = False
carla_vehicles = CarlaDataProvider.get_world().get_actors().filter('vehicle.*')
for carla_vehicle in carla_vehicles:
if carla_vehicle.attributes['role_name'] == ego_vehicle.rolename:
ego_vehicle_found = True
self.ego_vehicles.append(carla_vehicle)
break
if not ego_vehicle_found:
ego_vehicle_missing = True
break
for i, _ in enumerate(self.ego_vehicles):
self.ego_vehicles[i].set_transform(config.ego_vehicles[i].transform)
self._start_time = CarlaDataProvider.get_world().tick()
