Merged spawn pedestrians in spawn npc

PythonAPI/examples/spawn_npc.py

@@ -47,6 +47,12 @@ def main():
         default=10,
         type=int,
         help='number of vehicles (default: 10)')
+    argparser.add_argument(
+        '-w', '--number-of-walkers',
+        metavar='W',
+        default=50,
+        type=int,
+        help='number of walkers (default: 50)')
     argparser.add_argument(
         '-d', '--delay',
         metavar='D',
@@ -117,14 +123,74 @@ def main():
 
         print('spawned %d vehicles, press Ctrl+C to exit.' % len(actor_list))
 
+        # Spawn Walkers
+        print (args.number_of_walkers)
+        spawn_points = []
+        for i in range(args.number_of_walkers):
+            spawn_point = carla.Transform()
+            spawn_point.location = world.get_random_location_from_navigation()
+            spawn_points.append(spawn_point)
+        batch = []
+        info = []
+        for spawn_point in spawn_points:
+            walker_bp = random.choice(world.get_blueprint_library().filter('walker.pedestrian.*'))
+            batch.append(SpawnActor(walker_bp, spawn_point))
+
+        # apply
+        results = client.apply_batch_sync(batch, True)
+        for i in range(len(results)):
+            if results[i].error:
+                logging.error(results[i].error)
+            else:
+                info.append({ "id":results[i].actor_id, "trans":spawn_points[i], "con":None })
+
+        # Spawn walker controller
+        batch = []
+        walker_controller_bp = world.get_blueprint_library().find('controller.ai.walker')
+        for i in range(len(info)):
+            batch.append(SpawnActor(walker_controller_bp, carla.Transform(), info[i]["id"]))
+        # apply
+        results = client.apply_batch_sync(batch, True)
+        for i in range(len(results)):
+            if results[i].error:
+                logging.error(results[i].error)
+            else:
+                info[i]["con"] = results[i].actor_id
+
+        # get whole list of actors (child and parents)
+        all_id = []
+        for i in range(len(info)):
+            all_id.append(info[i]["id"])
+            all_id.append(info[i]["con"])
+        all_actors = world.get_actors(all_id)
+
+        # initialize each controller and set target to walk to
+        for i in range(len(all_id)):
+            # check it if it is a controller or a walker
+            index = -1
+            for j in range(len(info)):
+                if (info[j]["con"] == all_id[i]):
+                    index = j
+                    break
+            if (index != -1):
+                # init
+                all_actors[i].start(info[index]["trans"].location)
+                # walk to random point
+                target = world.get_random_location_from_navigation()
+                all_actors[i].go_to_location(target)
+
+        print('spawned %d walkers, press Ctrl+C to exit.' % len(info))
+
         while True:
             world.wait_for_tick()
 
     finally:
 
-        print('\ndestroying %d actors' % len(actor_list))
+        print('\ndestroying %d vehicles' % len(actor_list))
         client.apply_batch([carla.command.DestroyActor(x) for x in actor_list])
 
+        print('\ndestroying %d walkers' % len(info))
+        client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
 
 if __name__ == '__main__':