def _init(self): super()._init() self._turn_controller = PIDController(K_P=1.25, K_I=0.75, K_D=0.3, n=40) self._speed_controller = PIDController(K_P=5.0, K_I=0.5, K_D=1.0, n=40) # addition: self._vehicle = CarlaDataProvider.get_hero_actor() self._world = self._vehicle.get_world()
def _init(self): super()._init() self._vehicle = CarlaDataProvider.get_hero_actor() self._world = self._vehicle.get_world() self._waypoint_planner = RoutePlanner(4.0, 50) self._waypoint_planner.set_route(self._plan_gps_HACK, True) self._traffic_lights = list()
def _init(self): self._command_planner = RoutePlanner(7.5, 25.0, 257) self._command_planner.set_route(self._global_plan, True) self.initialized = True self._vehicle = CarlaDataProvider.get_hero_actor() self._world = self._vehicle.get_world() self._map = CarlaDataProvider.get_map() self.min_d = 10000 self.offroad_d = 10000 self.wronglane_d = 10000 self.dev_dist = 0