launch.py

   1 #!/usr/bin/env python3.7
   2 import carla
   3
   4 client = carla.Client("localhost", 2000)
   5 client.set_timeout(9999)
   6 world = client.get_world()
   7 settings = world.get_settings()
   8
   9
  10 def set_world(new_world="Town04"):
  11     global world
  12     client.load_world(new_world)
  13     world = client.get_world()
  14
  15
  16 def set_simulation():
  17     global settings
  18     settings = world.get_settings()
  19     settings.synchronous_mode = True
  20     settings.fixed_delta_seconds = 0.02
  21     settings.max_substeps = 10
  22     world.apply_settings(settings)
  23
  24
  25 def focus_on(actor):
  26     world.get_spectator().set_transform(actor.get_transform())
  27
  28
  29 def destroy(*actors):
  30     for a in actors:
  31         a.destroy()
  32
  33
  34 def spawn_vehicle(name, where):
  35     if not isinstance(where, carla.Transform):
  36         where = world.get_map().get_spawn_points()[where]
  37     bp = world.get_blueprint_library().find("vehicle.tesla.model3")
  38     bp.set_attribute("role_name", name)
  39     if name == "target":
  40         bp.set_attribute("color", "255,0,0")
  41     return world.spawn_actor(bp, where)
  42
  43
  44 def spawn_ego(target):
  45     tt = target.get_transform()
  46     et = carla.Transform(
  47             tt.location - 20 * tt.get_forward_vector(),
  48             tt.rotation)
  49     return spawn_vehicle("ego", et)
  50
  51
  52 def spawn_target():
  53     return spawn_vehicle("target", 1)
  54
  55
  56 def main_collision():
  57     set_world()
  58     t = spawn_target()
  59     world.wait_for_tick()
  60     e = spawn_ego(t)
  61     world.wait_for_tick()
  62     focus_on(e)
  63     e.set_target_velocity(carla.Vector3D(10, 0, 0))
  64
  65
  66 def main_simulation():
  67     set_world()
  68     set_simulation()
  69     t = spawn_target()
  70     world.tick()
  71     e = spawn_ego(t)
  72     world.tick()
  73     focus_on(e)
  74     t.set_target_velocity(carla.Vector3D(10, 0, 0))
  75
  76     c = carla.VehicleControl()
  77     c.throttle = 1
  78
  79     i = 0
  80     while i * settings.fixed_delta_seconds < 4:
  81         print("step {} time {} ego speed {} m/s".format(
  82                 i, i * 0.02, e.get_velocity().length()))
  83         if i == 10:
  84             focus_on(e)
  85         i += 1
  86         world.tick()
  87
  88     destroy(e, t)
  89
  90
  91 if __name__ == "__main__":
  92     try:
  93         main_collision()
  94     except KeyboardInterrupt:
  95         pass