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retrieving traffic lights from landmarks

This commit is contained in:
Joel Moriana 2020-04-09 08:56:17 +02:00 committed by bernat
parent 6fde83fbc9
commit 0f92f9e71c
1 changed files with 8 additions and 24 deletions
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32
Co-Simulation/Sumo/sumo_integration/carla_simulation.py
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@ -48,33 +48,17 @@ class CarlaSimulation(object):
self.spawned_actors = set()
self.destroyed_actors = set()
# This is a temporal workaround to avoid the issue of retrieving traffic lights from
# landmarks.
# Set traffic lights.
self._tls = {} # {landmark_id: traffic_ligth_actor}
self._location = {
'121': carla.Location(42.02934082, 101.56253906, 0.0),
'123': carla.Location(46.10708984, 92.04954102, 0.15238953),
'130': carla.Location(101.69419922, 61.59494141, 0.0),
'129': carla.Location(92.17053711, 57.36221191, 0.0),
'136': carla.Location(61.48416016, 50.7382666, 0.0),
'135': carla.Location(57.23968262, 59.23875977, 0.15238953)
}
for carla_actor in self.world.get_actors():
for landmark_id, landmark_location in self._location.items():
if carla_actor.get_location().distance(landmark_location) < 0.1:
self._tls[landmark_id] = carla_actor
# for landmark in self.world.get_map().get_all_landmarks_of_type('1000001'):
# if landmark.id != '':
# traffic_ligth = self.world.get_traffic_light(landmark)
# if traffic_ligth is not None:
# self._tls[landmark.id] = traffic_ligth
# else:
# logging.warning('Landmark %s is not linked to any traffic light', landmark.id)
map = self.world.get_map()
for landmark in map.get_all_landmarks_of_type('1000001'):
if landmark.id != '':
traffic_ligth = self.world.get_traffic_light(landmark)
if traffic_ligth is not None:
self._tls[landmark.id] = traffic_ligth
else:
logging.warning('Landmark %s is not linked to any traffic light', landmark.id)
def get_actor(self, actor_id):
"""