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Initial changes

This commit is contained in:
Guillermo 2021-06-18 16:23:56 +02:00 committed by bernat
parent df9470015c
commit 43bd2adc1a
7 changed files with 60 additions and 143 deletions
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72
PythonAPI/carla/agents/navigation/agent.py
View File

@ -13,7 +13,10 @@ import math
from enum import Enum
import carla
from agents.tools.misc import is_within_distance_ahead, is_within_distance, compute_distance
from agents.tools.misc import (is_within_distance_ahead,
is_within_distance,
compute_distance,
get_trafficlight_trigger_location)
class AgentState(Enum):
"""
@ -27,7 +30,7 @@ class AgentState(Enum):
class Agent(object):
"""Base class to define agents in CARLA"""
def __init__(self, vehicle):
def __init__(self, vehicle, debug=False):
"""
Constructor method.
@ -45,14 +48,15 @@ class Agent(object):
print(' The server could not send the OpenDRIVE (.xodr) file:')
print(' Make sure it exists, has the same name of your town, and is correct.')
sys.exit(1)
self._debug = debug
self._last_traffic_light = None
self._sampling_resolution = 2.0
def get_local_planner(self):
"""Get method for protected member local planner"""
return self._local_planner
@staticmethod
def run_step(debug=False):
def run_step(self):
"""
Execute one step of navigation.
@ -61,12 +65,19 @@ class Agent(object):
"""
control = carla.VehicleControl()
if debug:
control.steer = 0.0
control.throttle = 0.0
control.brake = 0.0
control.hand_brake = False
control.manual_gear_shift = False
return control
def emergency_stop(self):
"""
Send an emergency stop command to the vehicle
:return: control for braking
"""
control = carla.VehicleControl()
control.steer = 0.0
control.throttle = 0.0
control.brake = 1.0
control.hand_brake = False
return control
@ -86,7 +97,7 @@ class Agent(object):
ego_vehicle_waypoint = self._map.get_waypoint(ego_vehicle_location)
for traffic_light in lights_list:
object_location = self._get_trafficlight_trigger_location(traffic_light)
object_location = get_trafficlight_trigger_location(traffic_light)
object_waypoint = self._map.get_waypoint(object_location)
if object_waypoint.road_id != ego_vehicle_waypoint.road_id:
@ -107,29 +118,6 @@ class Agent(object):
return (False, None)
def _get_trafficlight_trigger_location(self, traffic_light): # pylint: disable=no-self-use
"""
Calculates the yaw of the waypoint that represents the trigger volume of the traffic light
"""
def rotate_point(point, radians):
"""
rotate a given point by a given angle
"""
rotated_x = math.cos(radians) * point.x - math.sin(radians) * point.y
rotated_y = math.sin(radians) * point.x - math.cos(radians) * point.y
return carla.Vector3D(rotated_x, rotated_y, point.z)
base_transform = traffic_light.get_transform()
base_rot = base_transform.rotation.yaw
area_loc = base_transform.transform(traffic_light.trigger_volume.location)
area_ext = traffic_light.trigger_volume.extent
point = rotate_point(carla.Vector3D(0, 0, area_ext.z), math.radians(base_rot))
point_location = area_loc + carla.Location(x=point.x, y=point.y)
return carla.Location(point_location.x, point_location.y, point_location.z)
def _bh_is_vehicle_hazard(self, ego_wpt, ego_loc, vehicle_list,
proximity_th, up_angle_th, low_angle_th=0, lane_offset=0):
"""
@ -233,19 +221,3 @@ class Agent(object):
return (True, target_vehicle)
return (False, None)
@staticmethod
def emergency_stop():
"""
Send an emergency stop command to the vehicle
:return: control for braking
"""
control = carla.VehicleControl()
control.steer = 0.0
control.throttle = 0.0
control.brake = 1.0
control.hand_brake = False
return control

14
PythonAPI/carla/agents/navigation/basic_agent.py
View File

@ -38,7 +38,7 @@ class BasicAgent(Agent):
self._local_planner = LocalPlanner(
self._vehicle, opt_dict={'target_speed' : target_speed,
'lateral_control_dict':args_lateral_dict})
self._hop_resolution = 2.0
self._sampling_resolution = 2.0
self._path_seperation_hop = 2
self._path_seperation_threshold = 0.5
self._target_speed = target_speed
@ -51,22 +51,24 @@ class BasicAgent(Agent):
"""
start_waypoint = self._map.get_waypoint(self._vehicle.get_location())
end_waypoint = self._map.get_waypoint(
carla.Location(location[0], location[1], location[2]))
end_waypoint = self._map.get_waypoint(location)
route_trace = self._trace_route(start_waypoint, end_waypoint)
route_trace = self.trace_route(start_waypoint, end_waypoint)
self._local_planner.set_global_plan(route_trace)
def _trace_route(self, start_waypoint, end_waypoint):
def trace_route(self, start_waypoint, end_waypoint):
"""
This method sets up a global router and returns the optimal route
from start_waypoint to end_waypoint
:param start_waypoint: initial position
:param end_waypoint: final position
"""
# Setting up global router
if self._grp is None:
dao = GlobalRoutePlannerDAO(self._vehicle.get_world().get_map(), self._hop_resolution)
dao = GlobalRoutePlannerDAO(self._vehicle.get_world().get_map(), self._sampling_resolution)
grp = GlobalRoutePlanner(dao)
grp.setup()
self._grp = grp

16
PythonAPI/carla/agents/navigation/behavior_agent.py
View File

@ -16,7 +16,7 @@ from agents.navigation.local_planner_behavior import LocalPlanner
from agents.navigation.local_planner import RoadOption
from agents.navigation.global_route_planner import GlobalRoutePlanner
from agents.navigation.global_route_planner_dao import GlobalRoutePlannerDAO
from agents.navigation.types_behavior import Cautious, Aggressive, Normal
from agents.navigation.behavior_types import Cautious, Aggressive, Normal
from agents.tools.misc import get_speed, positive
@ -110,12 +110,10 @@ class BehaviorAgent(Agent):
:param end_location: final position
:param clean: boolean to clean the waypoint queue
"""
if clean:
self._local_planner.waypoints_queue.clear()
self.start_waypoint = self._map.get_waypoint(start_location)
self.end_waypoint = self._map.get_waypoint(end_location)
route_trace = self._trace_route(self.start_waypoint, self.end_waypoint)
route_trace = self.trace_route(self.start_waypoint, self.end_waypoint)
self._local_planner.set_global_plan(route_trace, clean)
@ -135,19 +133,17 @@ class BehaviorAgent(Agent):
self.set_destination(new_start, destination)
def _trace_route(self, start_waypoint, end_waypoint):
def trace_route(self, start_waypoint, end_waypoint):
"""
This method sets up a global router and returns the
optimal route from start_waypoint to end_waypoint.
This method sets up a global router and returns the optimal route
from start_waypoint to end_waypoint
:param start_waypoint: initial position
:param end_waypoint: final position
"""
# Setting up global router
if self._grp is None:
wld = self.vehicle.get_world()
dao = GlobalRoutePlannerDAO(
wld.get_map(), sampling_resolution=self._sampling_resolution)
dao = GlobalRoutePlannerDAO(self._vehicle.get_world().get_map(), self._sampling_resolution)
grp = GlobalRoutePlanner(dao)
grp.setup()
self._grp = grp

0
PythonAPI/carla/agents/navigation/types_behavior.py → PythonAPI/carla/agents/navigation/behavior_types.py
View File

74
PythonAPI/carla/agents/navigation/roaming_agent.py
View File

@ -1,74 +0,0 @@
#!/usr/bin/env python
# Copyright (c) 2018 Intel Labs.
# authors: German Ros (german.ros@intel.com)
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
""" This module implements an agent that roams around a track following random waypoints and avoiding other vehicles.
The agent also responds to traffic lights. """
from agents.navigation.agent import Agent, AgentState
from agents.navigation.local_planner import LocalPlanner
class RoamingAgent(Agent):
"""
RoamingAgent implements a basic agent that navigates scenes making random
choices when facing an intersection.
This agent respects traffic lights and other vehicles.
"""
def __init__(self, vehicle):
"""
:param vehicle: actor to apply to local planner logic onto
"""
super(RoamingAgent, self).__init__(vehicle)
self._proximity_threshold = 10.0 # meters
self._state = AgentState.NAVIGATING
self._local_planner = LocalPlanner(self._vehicle)
def run_step(self, debug=False):
"""
Execute one step of navigation.
:return: carla.VehicleControl
"""
# is there an obstacle in front of us?
hazard_detected = False
# retrieve relevant elements for safe navigation, i.e.: traffic lights
# and other vehicles
actor_list = self._world.get_actors()
vehicle_list = actor_list.filter("*vehicle*")
lights_list = actor_list.filter("*traffic_light*")
# check possible obstacles
vehicle_state, vehicle = self._is_vehicle_hazard(vehicle_list)
if vehicle_state:
if debug:
print('!!! VEHICLE BLOCKING AHEAD [{}])'.format(vehicle.id))
self._state = AgentState.BLOCKED_BY_VEHICLE
hazard_detected = True
# check for the state of the traffic lights
light_state, traffic_light = self._is_light_red(lights_list)
if light_state:
if debug:
print('=== RED LIGHT AHEAD [{}])'.format(traffic_light.id))
self._state = AgentState.BLOCKED_RED_LIGHT
hazard_detected = True
if hazard_detected:
control = self.emergency_stop()
else:
self._state = AgentState.NAVIGATING
# standard local planner behavior
control = self._local_planner.run_step()
return control

23
PythonAPI/carla/agents/tools/misc.py
View File

@ -39,6 +39,29 @@ def get_speed(vehicle):
return 3.6 * math.sqrt(vel.x ** 2 + vel.y ** 2 + vel.z ** 2)
def get_trafficlight_trigger_location(traffic_light):
"""
Calculates the yaw of the waypoint that represents the trigger volume of the traffic light
"""
def rotate_point(point, radians):
"""
rotate a given point by a given angle
"""
rotated_x = math.cos(radians) * point.x - math.sin(radians) * point.y
rotated_y = math.sin(radians) * point.x - math.cos(radians) * point.y
return carla.Vector3D(rotated_x, rotated_y, point.z)
base_transform = traffic_light.get_transform()
base_rot = base_transform.rotation.yaw
area_loc = base_transform.transform(traffic_light.trigger_volume.location)
area_ext = traffic_light.trigger_volume.extent
point = rotate_point(carla.Vector3D(0, 0, area_ext.z), math.radians(base_rot))
point_location = area_loc + carla.Location(x=point.x, y=point.y)
return carla.Location(point_location.x, point_location.y, point_location.z)
def is_within_distance_ahead(target_transform, current_transform, max_distance):
"""
Check if a target object is within a certain distance in front of a reference object.

4
PythonAPI/examples/automatic_control.py
View File

@ -692,9 +692,7 @@ def game_loop(args):
elif args.agent == "Basic":
agent = BasicAgent(world.player)
spawn_point = world.map.get_spawn_points()[0]
agent.set_destination((spawn_point.location.x,
spawn_point.location.y,
spawn_point.location.z))
agent.set_destination(spawn_point)
else:
agent = BehaviorAgent(world.player, behavior=args.behavior)