Added smoke test for collision sensor

PythonAPI/test/smoke/test_collision_sensor.py

@@ -0,0 +1,52 @@
+# Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB).
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+from . import SyncSmokeTest
+
+import carla
+
+class TestCollisionSensor(SyncSmokeTest):
+    def wait(self, frames=100):
+        for _i in range(0, frames):
+            self.world.tick()
+
+    def collision_callback(self, event, event_list):
+        event_list.append(event)
+
+    def run_collision_single_car_against_wall(self, bp_vehicle):
+        veh_transf = carla.Transform(carla.Location(30, -6, 1), carla.Rotation(yaw=-90))
+        vehicle = self.world.spawn_actor(bp_vehicle, veh_transf)
+
+        bp_col_sensor = self.world.get_blueprint_library().find('sensor.other.collision')
+        col_sensor = self.world.spawn_actor(bp_col_sensor, carla.Transform(), attach_to=vehicle)
+
+        event_list = []
+        col_sensor.listen(lambda data: self.collision_callback(data, event_list))
+
+        self.wait(10)
+        vehicle.set_target_velocity(10.0*veh_transf.rotation.get_forward_vector())
+
+        self.wait(30)
+
+        col_sensor.destroy()
+        vehicle.destroy()
+
+        return event_list
+
+    # Enable when changes for content are uploaded
+    def _test_single_car(self):
+        print("TestCollisionSensor.test_single_car")
+
+        bp_vehicles = self.world.get_blueprint_library().filter("vehicle.*")
+        for bp_veh in bp_vehicles:
+            # Run collision agains wall
+            event_list = self.run_collision_single_car_against_wall(bp_veh)
+
+            # Check result events
+            self.assertNotEqual(event_list, 0, "The collision sensor have failed for %s"
+                % bp_veh.id)
+            self.assertEqual(event_list[0].other_actor.type_id, "static.wall",
+                "The collision sensor is not working correctly for %s" % bp_veh.id)