def _initialize_actors(self, config):
# initialize background vehicles
super(TrainScenario, self)._initialize_actors(config)
# initialize background pedestrians
town_amount = {
'Town01': 150,
'Town02': 120,
'Town03': 150,
'Town04': 200,
'Town05': 150,
'Town06': 200,
'Town07': 120,
'Town08': 200,
'Town09': 320,
'Town10HD': 150,
}
amount = town_amount[config.town] if config.town in town_amount else 0
blueprints = CarlaDataProvider._blueprint_library.filter(
'walker.pedestrian.*')
spawn_points = []
while len(spawn_points) < amount:
spawn_point = carla.Transform()
loc = CarlaDataProvider.get_world(
).get_random_location_from_navigation()
if (loc != None):
spawn_point.location = loc
spawn_points.append(spawn_point)
batch = []
for spawn_point in spawn_points:
walker_bp = random.choice(blueprints)
if walker_bp.has_attribute('is_invincible'):
walker_bp.set_attribute('is_invincible', 'false')
batch.append(carla.command.SpawnActor(walker_bp, spawn_point))
pedestrians = CarlaDataProvider.handle_actor_batch(batch)
batch = []
walker_controller_bp = CarlaDataProvider._blueprint_library.find(
'controller.ai.walker')
for pedestrian in pedestrians:
batch.append(
carla.command.SpawnActor(walker_controller_bp,
carla.Transform(), pedestrian))
pedestrian_controllers = CarlaDataProvider.handle_actor_batch(batch)
CarlaDataProvider.get_world().set_pedestrians_cross_factor(1.0)
for controller in pedestrian_controllers:
controller.start()
controller.go_to_location(CarlaDataProvider.get_world().
get_random_location_from_navigation())
controller.set_max_speed(1.2 + random.random())
for actor in itertools.chain(pedestrians, pedestrian_controllers):
if actor is None:
continue
CarlaDataProvider._carla_actor_pool[actor.id] = actor
CarlaDataProvider.register_actor(actor)
self.other_actors.append(actor)
for scenario in self.list_scenarios:
self.other_actors.extend(scenario.other_actors)
def _initialize_actors(self, config):
"""
Set other_actors to the superset of all scenario actors
"""
# Create the background activity of the route
car_amounts = {
'Town01': [0, 20, 100],
'Town02': [0, 15, 70],
}
ped_amounts = {
'Town01': [0, 50, 200],
'Town02': [0, 50, 150],
}
car_amount = car_amounts[self.town_name][self.traffic_idx]
ped_amount = ped_amounts[self.town_name][self.traffic_idx]
new_actors = CarlaDataProvider.request_new_batch_actors(
'vehicle.*',
car_amount,
carla.Transform(),
autopilot=True,
random_location=True,
rolename='background')
if new_actors is None:
raise Exception(
"Error: Unable to add the background activity, all spawn points were occupied"
)
blueprints = CarlaDataProvider._blueprint_library.filter(
'walker.pedestrian.*')
spawn_points = []
while len(spawn_points) < ped_amount:
spawn_point = carla.Transform()
loc = CarlaDataProvider.get_world(
).get_random_location_from_navigation()
if (loc != None):
spawn_point.location = loc
spawn_points.append(spawn_point)
batch = []
for spawn_point in spawn_points:
walker_bp = random.choice(blueprints)
if walker_bp.has_attribute('is_invincible'):
walker_bp.set_attribute('is_invincible', 'false')
batch.append(carla.command.SpawnActor(walker_bp, spawn_point))
pedestrians = CarlaDataProvider.handle_actor_batch(batch)
batch = []
walker_controller_bp = CarlaDataProvider._blueprint_library.find(
'controller.ai.walker')
for pedestrian in pedestrians:
batch.append(
carla.command.SpawnActor(walker_controller_bp,
carla.Transform(), pedestrian))
pedestrian_controllers = CarlaDataProvider.handle_actor_batch(batch)
CarlaDataProvider.get_world().set_pedestrians_cross_factor(1.0)
for controller in pedestrian_controllers:
controller.start()
controller.go_to_location(CarlaDataProvider.get_world().
get_random_location_from_navigation())
controller.set_max_speed(1.2 + random.random())
for actor in itertools.chain(pedestrians, pedestrian_controllers):
if actor is None:
continue
CarlaDataProvider._carla_actor_pool[actor.id] = actor
CarlaDataProvider.register_actor(actor)
self.other_actors.append(actor)
