Removing script
This commit is contained in:
bernatx
Néstor Subirón
parent
8a6ab631f1
commit
23e0243e44
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@ -178,7 +178,7 @@ def main():
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# walk to random point
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target = world.get_random_location_from_navigation()
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all_actors[i].go_to_location(target)
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all_actors[i].set_max_speed(1.3 + random.random() * 0.5)
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all_actors[i].set_max_speed(1 + random.random())
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print('spawned %d walkers, press Ctrl+C to exit.' % len(info))
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@ -1,143 +0,0 @@
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#!/usr/bin/env python
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# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB).
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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import glob
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import os
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import sys
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try:
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sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
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sys.version_info.major,
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sys.version_info.minor,
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'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
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except IndexError:
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pass
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import carla
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import argparse
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import math
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import random
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import time
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import logging
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red = carla.Color(255, 0, 0)
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green = carla.Color(0, 255, 0)
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blue = carla.Color(47, 210, 231)
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cyan = carla.Color(0, 255, 255)
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yellow = carla.Color(255, 255, 0)
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orange = carla.Color(255, 162, 0)
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white = carla.Color(255, 255, 255)
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def main():
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argparser = argparse.ArgumentParser()
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argparser.add_argument(
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'--host',
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metavar='H',
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default='127.0.0.1',
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help='IP of the host server (default: 127.0.0.1)')
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argparser.add_argument(
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'-p', '--port',
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metavar='P',
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default=2000,
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type=int,
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help='TCP port to listen to (default: 2000)')
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argparser.add_argument(
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'-n', '--number-of-vehicles',
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metavar='N',
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default=50,
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type=int,
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help='number of vehicles (default: 10)')
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args = argparser.parse_args()
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try:
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client = carla.Client(args.host, args.port)
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client.set_timeout(2.0)
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world = client.get_world()
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m = world.get_map()
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debug = world.debug
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# get random points to spawn
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spawn_points = []
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for i in range(args.number_of_vehicles):
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spawn_point = carla.Transform()
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spawn_point.location = world.get_random_location_from_navigation()
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spawn_points.append(spawn_point)
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SpawnActor = carla.command.SpawnActor
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SetAutopilot = carla.command.SetAutopilot
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FutureActor = carla.command.FutureActor
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# Spawn walker
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batch = []
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info = []
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for spawn_point in spawn_points:
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walker_bp = random.choice(world.get_blueprint_library().filter('walker.pedestrian.*'))
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batch.append(SpawnActor(walker_bp, spawn_point))
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# apply
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results = client.apply_batch_sync(batch, True)
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for i in range(len(results)):
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if results[i].error:
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logging.error(results[i].error)
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else:
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info.append({ "id":results[i].actor_id, "trans":spawn_points[i], "con":None })
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# Spawn walker controller
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batch = []
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walker_controller_bp = world.get_blueprint_library().find('controller.ai.walker')
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for i in range(len(info)):
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batch.append(SpawnActor(walker_controller_bp, carla.Transform(), info[i]["id"]))
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# apply
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results = client.apply_batch_sync(batch, True)
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for i in range(len(results)):
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if results[i].error:
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logging.error(results[i].error)
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else:
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info[i]["con"] = results[i].actor_id
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# get whole list of actors (child and parents)
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all_id = []
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for i in range(len(info)):
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all_id.append(info[i]["id"])
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all_id.append(info[i]["con"])
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all_actors = world.get_actors(all_id)
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# initialize each controller and set target to walk to
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for i in range(len(all_id)):
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# check it if it is a controller or a walker
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index = -1
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for j in range(len(info)):
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if (info[j]["con"] == all_id[i]):
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index = j
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break
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if (index != -1):
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# init
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all_actors[i].start(info[index]["trans"].location)
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# walk to random point
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target = world.get_random_location_from_navigation()
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all_actors[i].go_to_location(target)
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# wait
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while (1):
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time.sleep(1);
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finally:
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print('\ndestroying %d actors' % len(all_id))
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client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
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if __name__ == '__main__':
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try:
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main()
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except KeyboardInterrupt:
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pass
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finally:
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pass
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