Merge branch 'master' into feature/new_opendrive_parser
This commit is contained in:
nsubiron
commit
560c124dab
24
CHANGELOG.md
24
CHANGELOG.md
|
|
@ -1,5 +1,10 @@
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|||
## Latest Changes
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||||
* LaneInvasionSensor stabilization
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- Fix naming: Use 'LaneInvasionSensor'/'lane_invasion' instead of mixture with 'LaneDetector'/'lane_detector'
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- Create server-side LaneInvasionSensor (to be able to access it via ROS bridge)
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||||
* Fix ActorList returned by ActorList.Filter(...)
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* Add --rolename to manual_control.py
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* Migrate Content to AWS
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* Adding a parser to represent the map as a connected graph of waypoints.
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* Allow user to disable rendering and set the server timeout from the command line
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|
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@ -11,12 +16,29 @@
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* Fixed python client DLL error on Windows
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* Fixed wheel's tire friction from physics control parameters.
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* Fixed cleanup of local_planner when used by other modules
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* Fixed Obstacle Detector
|
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* New Town07, rural environment with narrow roads
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* Added new pack of assets
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- Windmill, different farm houses, silo
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- Plants corn, dandelion, poppy, and grass
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- Yield traffic sign
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* Added modular buildings New York style
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* Added marking lanes in Town03
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* Improved performance in Town01 and Town02
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* Changed yellow marking lane from Town01 and Town02 to dashed yellow marking lane
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* Fixed semantic segmentation tags in Town04, Town05, Town06
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* Fixed tree collision in Town01
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* Fixed VehicleSpawnPoint in Town01
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* Fixed geo-reference of Town01 and Town07
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* Fixed floating pillars in Town04
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* Fixed floating building in Town03
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* Enhanced stop triggers options
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## CARLA 0.9.4
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* Added recording and playback functionality
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* Added synchronous mode, simulator waits until a client sends a "tick" cue, `client.tick()`
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* Allow changing map from client-side, added `client.load_map(name)`, `client.reload_map()`, and `client.get_available_maps()`
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* Allow changing map from client-side, added `client.load_world(name)`, `client.reload_world()`, and `client.get_available_maps()`
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* Added scripts and tools to import maps directly from .fbx and .xodr files into the simulator
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* Exposed minimum physics control parameters for vehicles' engine and wheels
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* Allow controlling multiple actors in "batch mode"
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|
|
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@ -48,7 +48,7 @@ This is the list of sensors currently available
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* [sensor.camera.semantic_segmentation](#sensorcamerasemantic_segmentation)
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* [sensor.lidar.ray_cast](#sensorlidarray_cast)
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* [sensor.other.collision](#sensorothercollision)
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* [sensor.other.lane_detector](#sensorotherlane_detector)
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* [sensor.other.lane_invasion](#sensorotherlane_invasion)
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* [sensor.other.obstacle](#sensorotherobstacle)
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sensor.camera.rgb
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@ -268,14 +268,14 @@ object for each collision registered
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Note that several collision events might be registered during a single
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simulation update.
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|
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sensor.other.lane_detector
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sensor.other.lane_invasion
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--------------------------
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> _This sensor is a work in progress, currently very limited._
|
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|
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This sensor, when attached to an actor, it registers an event each time the
|
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actor crosses a lane marking. This sensor is somehow special as it works fully
|
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on the client-side. The lane detector uses the road data of the active map to
|
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on the client-side. The lane invasion uses the road data of the active map to
|
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determine whether a vehicle is invading another lane. This information is based
|
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on the OpenDrive file provided by the map, therefore it is subject to the
|
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fidelity of the OpenDrive description. In some places there might be
|
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|
|
|
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|
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@ -114,20 +114,25 @@
|
|||
- `get_location()`
|
||||
- `get_transform()`
|
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- `get_velocity()`
|
||||
- `get_angular_velocity()`
|
||||
- `get_acceleration()`
|
||||
- `set_location(location)`
|
||||
- `set_transform(transform)`
|
||||
- `set_velocity(vector)`
|
||||
- `set_angular_velocity(vector)`
|
||||
- `add_impulse(vector)`
|
||||
- `set_simulate_physics(enabled=True)`
|
||||
- `destroy()`
|
||||
- `__str__()`
|
||||
|
||||
## `carla.Vehicle(carla.Actor)`
|
||||
|
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- `bounding_box`
|
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- `apply_control(vehicle_control)`
|
||||
- `get_control()`
|
||||
- `set_autopilot(enabled=True)`
|
||||
- `get_physics_control()`
|
||||
- `apply_physics_control(vehicle_physics_control)`
|
||||
- `set_autopilot(enabled=True)`
|
||||
- `get_speed_limit()`
|
||||
- `get_traffic_light_state()`
|
||||
- `is_at_traffic_light()`
|
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|
|
@ -217,6 +222,8 @@
|
|||
- `brake`
|
||||
- `hand_brake`
|
||||
- `reverse`
|
||||
- `gear`
|
||||
- `manual_gear_shift`
|
||||
- `__eq__(other)`
|
||||
- `__ne__(other)`
|
||||
|
||||
|
|
|
|||
|
|
@ -29,7 +29,3 @@ endif ()
|
|||
if ((LIBCARLA_BUILD_TEST) AND (NOT WIN32))
|
||||
add_subdirectory("test")
|
||||
endif()
|
||||
|
||||
unset(LIBCARLA_BUILD_TEST CACHE)
|
||||
unset(LIBCARLA_BUILD_RELEASE CACHE)
|
||||
unset(LIBCARLA_BUILD_DEBUG CACHE)
|
||||
|
|
|
|||
|
|
@ -29,11 +29,11 @@ namespace client {
|
|||
return nullptr;
|
||||
}
|
||||
|
||||
ActorList ActorList::Filter(const std::string &wildcard_pattern) const {
|
||||
ActorList filtered{_episode, {}};
|
||||
SharedPtr<ActorList> ActorList::Filter(const std::string &wildcard_pattern) const {
|
||||
SharedPtr<ActorList> filtered (new ActorList(_episode, {}));
|
||||
for (auto &&actor : _actors) {
|
||||
if (StringUtil::Match(actor.GetTypeId(), wildcard_pattern)) {
|
||||
filtered._actors.push_back(actor);
|
||||
filtered->_actors.push_back(actor);
|
||||
}
|
||||
}
|
||||
return filtered;
|
||||
|
|
|
|||
|
|
@ -31,7 +31,7 @@ namespace client {
|
|||
SharedPtr<Actor> Find(ActorId actor_id) const;
|
||||
|
||||
/// Filters a list of Actor with type id matching @a wildcard_pattern.
|
||||
ActorList Filter(const std::string &wildcard_pattern) const;
|
||||
SharedPtr<ActorList> Filter(const std::string &wildcard_pattern) const;
|
||||
|
||||
SharedPtr<Actor> operator[](size_t pos) const {
|
||||
return _actors[pos].Get(_episode, shared_from_this());
|
||||
|
|
|
|||
|
|
@ -60,7 +60,7 @@ namespace client {
|
|||
_geo_reference.Transform(GetLocation()));
|
||||
} catch (const std::exception &e) {
|
||||
/// @todo We need to unsubscribe the sensor.
|
||||
// log_error("LaneDetector:", e.what());
|
||||
// log_error("GnssSensor:", e.what());
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -4,7 +4,7 @@
|
|||
// This work is licensed under the terms of the MIT license.
|
||||
// For a copy, see <https://opensource.org/licenses/MIT>.
|
||||
|
||||
#include "carla/client/LaneDetector.h"
|
||||
#include "carla/client/LaneInvasionSensor.h"
|
||||
|
||||
#include "carla/Logging.h"
|
||||
#include "carla/client/Map.h"
|
||||
|
|
@ -40,9 +40,9 @@ namespace client {
|
|||
location + Rotate(yaw, geom::Location(-box.extent.x, -box.extent.y, 0.0f))};
|
||||
}
|
||||
|
||||
LaneDetector::~LaneDetector() = default;
|
||||
LaneInvasionSensor::~LaneInvasionSensor() = default;
|
||||
|
||||
void LaneDetector::Listen(CallbackFunctionType callback) {
|
||||
void LaneInvasionSensor::Listen(CallbackFunctionType callback) {
|
||||
if (_is_listening) {
|
||||
log_error(GetDisplayId(), ": already listening");
|
||||
return;
|
||||
|
|
@ -57,15 +57,15 @@ namespace client {
|
|||
_map = GetWorld().GetMap();
|
||||
DEBUG_ASSERT(_map != nullptr);
|
||||
|
||||
auto self = boost::static_pointer_cast<LaneDetector>(shared_from_this());
|
||||
auto self = boost::static_pointer_cast<LaneInvasionSensor>(shared_from_this());
|
||||
|
||||
log_debug(GetDisplayId(), ": subscribing to tick event");
|
||||
GetEpisode().Lock()->RegisterOnTickEvent([
|
||||
cb=std::move(callback),
|
||||
weak_self=WeakPtr<LaneDetector>(self)](const auto ×tamp) {
|
||||
weak_self=WeakPtr<LaneInvasionSensor>(self)](const auto ×tamp) {
|
||||
auto self = weak_self.lock();
|
||||
if (self != nullptr) {
|
||||
auto data = self->TickLaneDetector(timestamp);
|
||||
auto data = self->TickLaneInvasionSensor(timestamp);
|
||||
if (data != nullptr) {
|
||||
cb(std::move(data));
|
||||
}
|
||||
|
|
@ -74,11 +74,12 @@ namespace client {
|
|||
_is_listening = true;
|
||||
}
|
||||
|
||||
void LaneDetector::Stop() {
|
||||
throw_exception(std::runtime_error("LaneDetector::Stop(): not implemented."));
|
||||
void LaneInvasionSensor::Stop() {
|
||||
/// @todo We need unsubscribe from the world on tick.
|
||||
_is_listening = false;
|
||||
}
|
||||
|
||||
SharedPtr<sensor::SensorData> LaneDetector::TickLaneDetector(
|
||||
SharedPtr<sensor::SensorData> LaneInvasionSensor::TickLaneInvasionSensor(
|
||||
const Timestamp ×tamp) {
|
||||
try {
|
||||
const auto new_bounds = GetVehicleBounds(*_vehicle);
|
||||
|
|
@ -98,7 +99,7 @@ namespace client {
|
|||
crossed_lanes);
|
||||
} catch (const std::exception &e) {
|
||||
/// @todo We need to unsubscribe the sensor.
|
||||
// log_error("LaneDetector:", e.what());
|
||||
// log_error("LaneInvasionSensor:", e.what());
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
|
@ -17,12 +17,12 @@ namespace client {
|
|||
class Map;
|
||||
class Vehicle;
|
||||
|
||||
class LaneDetector final : public ClientSideSensor {
|
||||
class LaneInvasionSensor final : public ClientSideSensor {
|
||||
public:
|
||||
|
||||
using ClientSideSensor::ClientSideSensor;
|
||||
|
||||
~LaneDetector();
|
||||
~LaneInvasionSensor();
|
||||
|
||||
/// Register a @a callback to be executed each time a new measurement is
|
||||
/// received.
|
||||
|
|
@ -43,7 +43,7 @@ namespace client {
|
|||
|
||||
private:
|
||||
|
||||
SharedPtr<sensor::SensorData> TickLaneDetector(const Timestamp ×tamp);
|
||||
SharedPtr<sensor::SensorData> TickLaneInvasionSensor(const Timestamp ×tamp);
|
||||
|
||||
bool _is_listening = false;
|
||||
|
||||
|
|
@ -10,7 +10,7 @@
|
|||
#include "carla/StringUtil.h"
|
||||
#include "carla/client/Actor.h"
|
||||
#include "carla/client/GnssSensor.h"
|
||||
#include "carla/client/LaneDetector.h"
|
||||
#include "carla/client/LaneInvasionSensor.h"
|
||||
#include "carla/client/ServerSideSensor.h"
|
||||
#include "carla/client/TrafficLight.h"
|
||||
#include "carla/client/TrafficSign.h"
|
||||
|
|
@ -73,8 +73,8 @@ namespace detail {
|
|||
SharedPtr<Actor> parent,
|
||||
GarbageCollectionPolicy gc) {
|
||||
auto init = ActorInitializer{description, episode, parent};
|
||||
if (description.description.id == "sensor.other.lane_detector") { /// @todo
|
||||
return MakeActorImpl<LaneDetector>(std::move(init), gc);
|
||||
if (description.description.id == "sensor.other.lane_invasion") { /// @todo
|
||||
return MakeActorImpl<LaneInvasionSensor>(std::move(init), gc);
|
||||
} else if (description.description.id == "sensor.other.gnss") { /// @todo
|
||||
return MakeActorImpl<GnssSensor>(std::move(init), gc);
|
||||
} else if (description.HasAStream()) {
|
||||
|
|
|
|||
|
|
@ -111,12 +111,6 @@ namespace detail {
|
|||
|
||||
SharedPtr<BlueprintLibrary> Simulator::GetBlueprintLibrary() {
|
||||
auto defs = _client.GetActorDefinitions();
|
||||
{ /// @todo
|
||||
rpc::ActorDefinition def;
|
||||
def.id = "sensor.other.lane_detector";
|
||||
def.tags = "sensor,other,lane_detector";
|
||||
defs.emplace_back(def);
|
||||
}
|
||||
return MakeShared<BlueprintLibrary>(std::move(defs));
|
||||
}
|
||||
|
||||
|
|
@ -138,9 +132,7 @@ namespace detail {
|
|||
Actor *parent,
|
||||
GarbageCollectionPolicy gc) {
|
||||
rpc::Actor actor;
|
||||
if (blueprint.GetId() == "sensor.other.lane_detector") { /// @todo
|
||||
actor.description = blueprint.MakeActorDescription();
|
||||
} else if (parent != nullptr) {
|
||||
if (parent != nullptr) {
|
||||
actor = _client.SpawnActorWithParent(
|
||||
blueprint.MakeActorDescription(),
|
||||
transform,
|
||||
|
|
@ -165,9 +157,7 @@ namespace detail {
|
|||
|
||||
bool Simulator::DestroyActor(Actor &actor) {
|
||||
bool success = true;
|
||||
if (actor.GetTypeId() != "sensor.other.lane_detector") { /// @todo
|
||||
success = _client.DestroyActor(actor.GetId());
|
||||
}
|
||||
success = _client.DestroyActor(actor.GetId());
|
||||
if (success) {
|
||||
// Remove it's persistent state so it cannot access the client anymore.
|
||||
actor.GetEpisode().Clear();
|
||||
|
|
|
|||
|
|
@ -24,6 +24,7 @@
|
|||
class ACollisionSensor;
|
||||
class ADepthCamera;
|
||||
class AGnssSensor;
|
||||
class ALaneInvasionSensor;
|
||||
class AObstacleDetectionSensor;
|
||||
class ARayCastLidar;
|
||||
class ASceneCaptureCamera;
|
||||
|
|
@ -45,6 +46,7 @@ namespace sensor {
|
|||
std::pair<ARayCastLidar *, s11n::LidarSerializer>,
|
||||
std::pair<ACollisionSensor *, s11n::CollisionEventSerializer>,
|
||||
std::pair<AGnssSensor *, s11n::ImageSerializer>,
|
||||
std::pair<ALaneInvasionSensor *, s11n::ImageSerializer>,
|
||||
std::pair<AObstacleDetectionSensor *, s11n::ObstacleDetectionEventSerializer>
|
||||
>;
|
||||
|
||||
|
|
@ -63,6 +65,7 @@ namespace sensor {
|
|||
#include "Carla/Sensor/SemanticSegmentationCamera.h"
|
||||
#include "Carla/Sensor/WorldObserver.h"
|
||||
#include "Carla/Sensor/GnssSensor.h"
|
||||
#include "Carla/Sensor/LaneInvasionSensor.h"
|
||||
#include "Carla/Sensor/ObstacleDetectionSensor.h"
|
||||
|
||||
#endif // LIBCARLA_SENSOR_REGISTRY_WITH_SENSOR_INCLUDES
|
||||
|
|
|
|||
|
|
@ -572,7 +572,7 @@ class LaneInvasionSensor(object):
|
|||
self._parent = parent_actor
|
||||
self.hud = hud
|
||||
world = self._parent.get_world()
|
||||
bp = world.get_blueprint_library().find('sensor.other.lane_detector')
|
||||
bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
|
||||
self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
|
||||
# We need to pass the lambda a weak reference to self to avoid circular
|
||||
# reference.
|
||||
|
|
|
|||
|
|
@ -143,8 +143,9 @@ def get_actor_display_name(actor, truncate=250):
|
|||
|
||||
|
||||
class World(object):
|
||||
def __init__(self, carla_world, hud, actor_filter):
|
||||
def __init__(self, carla_world, hud, actor_filter, actor_role_name='hero'):
|
||||
self.world = carla_world
|
||||
self.actor_role_name = actor_role_name
|
||||
self.map = self.world.get_map()
|
||||
self.hud = hud
|
||||
self.player = None
|
||||
|
|
@ -166,7 +167,7 @@ class World(object):
|
|||
cam_pos_index = self.camera_manager.transform_index if self.camera_manager is not None else 0
|
||||
# Get a random blueprint.
|
||||
blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter))
|
||||
blueprint.set_attribute('role_name', 'hero')
|
||||
blueprint.set_attribute('role_name', self.actor_role_name)
|
||||
if blueprint.has_attribute('color'):
|
||||
color = random.choice(blueprint.get_attribute('color').recommended_values)
|
||||
blueprint.set_attribute('color', color)
|
||||
|
|
@ -604,7 +605,7 @@ class LaneInvasionSensor(object):
|
|||
self._parent = parent_actor
|
||||
self.hud = hud
|
||||
world = self._parent.get_world()
|
||||
bp = world.get_blueprint_library().find('sensor.other.lane_detector')
|
||||
bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
|
||||
self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
|
||||
# We need to pass the lambda a weak reference to self to avoid circular
|
||||
# reference.
|
||||
|
|
@ -767,7 +768,7 @@ def game_loop(args):
|
|||
pygame.HWSURFACE | pygame.DOUBLEBUF)
|
||||
|
||||
hud = HUD(args.width, args.height)
|
||||
world = World(client.get_world(), hud, args.filter)
|
||||
world = World(client.get_world(), hud, args.filter, args.rolename)
|
||||
controller = KeyboardControl(world, args.autopilot)
|
||||
|
||||
clock = pygame.time.Clock()
|
||||
|
|
@ -828,6 +829,11 @@ def main():
|
|||
metavar='PATTERN',
|
||||
default='vehicle.*',
|
||||
help='actor filter (default: "vehicle.*")')
|
||||
argparser.add_argument(
|
||||
'--rolename',
|
||||
metavar='NAME',
|
||||
default='hero',
|
||||
help='actor role name (default: "hero")')
|
||||
args = argparser.parse_args()
|
||||
|
||||
args.width, args.height = [int(x) for x in args.res.split('x')]
|
||||
|
|
|
|||
|
|
@ -617,7 +617,7 @@ class LaneInvasionSensor(object):
|
|||
self._parent = parent_actor
|
||||
self.hud = hud
|
||||
world = self._parent.get_world()
|
||||
bp = world.get_blueprint_library().find('sensor.other.lane_detector')
|
||||
bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
|
||||
self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
|
||||
# We need to pass the lambda a weak reference to self to avoid circular
|
||||
# reference.
|
||||
|
|
|
|||
|
|
@ -16,7 +16,7 @@ import os
|
|||
import sys
|
||||
|
||||
try:
|
||||
sys.path.append(glob.glob('../**/carla-*%d.%d-%s.egg' % (
|
||||
sys.path.append(glob.glob('**/carla-*%d.%d-%s.egg' % (
|
||||
sys.version_info.major,
|
||||
sys.version_info.minor,
|
||||
'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
|
||||
|
|
@ -157,6 +157,7 @@ def get_dynamic_objects(carla_world, carla_map):
|
|||
speed_limits = []
|
||||
walkers = []
|
||||
stops = []
|
||||
static_obstacles = []
|
||||
for actor in actors:
|
||||
if 'vehicle' in actor.type_id:
|
||||
vehicles.append(actor)
|
||||
|
|
@ -168,7 +169,11 @@ def get_dynamic_objects(carla_world, carla_map):
|
|||
walkers.append(actor)
|
||||
elif 'stop' in actor.type_id:
|
||||
stops.append(actor)
|
||||
return (vehicles, traffic_lights, speed_limits, walkers, stops)
|
||||
elif 'static.prop' in actor.type_id:
|
||||
static_obstacles.append(actor)
|
||||
|
||||
|
||||
return (vehicles, traffic_lights, speed_limits, walkers, stops, static_obstacles)
|
||||
|
||||
# Public functions
|
||||
def get_stop_signals(stops):
|
||||
|
|
@ -255,8 +260,20 @@ def get_dynamic_objects(carla_world, carla_map):
|
|||
speed_limits_dict[speed_limit.id] = sl_dict
|
||||
return speed_limits_dict
|
||||
|
||||
def get_static_obstacles(static_obstacles):
|
||||
static_obstacles_dict = dict()
|
||||
for static_prop in static_obstacles:
|
||||
sl_transform = static_prop.get_transform()
|
||||
location_gnss = carla_map.transform_to_geolocation(sl_transform.location)
|
||||
sl_dict = {
|
||||
"id": static_prop.id,
|
||||
"position": [location_gnss.latitude, location_gnss.longitude, location_gnss.altitude]
|
||||
}
|
||||
static_obstacles_dict[static_prop.id] = sl_dict
|
||||
return static_obstacles_dict
|
||||
|
||||
actors = carla_world.get_actors()
|
||||
vehicles, traffic_lights, speed_limits, walkers, stops = _split_actors(actors)
|
||||
vehicles, traffic_lights, speed_limits, walkers, stops, static_obstacles = _split_actors(actors)
|
||||
|
||||
hero_vehicles = [vehicle for vehicle in vehicles if
|
||||
'vehicle' in vehicle.type_id and vehicle.attributes['role_name'] == 'hero']
|
||||
|
|
@ -268,5 +285,6 @@ def get_dynamic_objects(carla_world, carla_map):
|
|||
'walkers': get_walkers(walkers),
|
||||
'traffic_lights': get_traffic_lights(traffic_lights),
|
||||
'stop_signs': get_stop_signals(stops),
|
||||
'speed_limits': get_speed_limits(speed_limits)
|
||||
'speed_limits': get_speed_limits(speed_limits),
|
||||
'static_obstacles': get_static_obstacles(static_obstacles)
|
||||
}
|
||||
|
|
@ -7,7 +7,7 @@
|
|||
#include <carla/PythonUtil.h>
|
||||
#include <carla/client/ClientSideSensor.h>
|
||||
#include <carla/client/GnssSensor.h>
|
||||
#include <carla/client/LaneDetector.h>
|
||||
#include <carla/client/LaneInvasionSensor.h>
|
||||
#include <carla/client/Sensor.h>
|
||||
#include <carla/client/ServerSideSensor.h>
|
||||
|
||||
|
|
@ -36,8 +36,8 @@ void export_sensor() {
|
|||
.def(self_ns::str(self_ns::self))
|
||||
;
|
||||
|
||||
class_<cc::LaneDetector, bases<cc::ClientSideSensor>, boost::noncopyable, boost::shared_ptr<cc::LaneDetector>>
|
||||
("LaneDetector", no_init)
|
||||
class_<cc::LaneInvasionSensor, bases<cc::ClientSideSensor>, boost::noncopyable, boost::shared_ptr<cc::LaneInvasionSensor>>
|
||||
("LaneInvasionSensor", no_init)
|
||||
.def(self_ns::str(self_ns::self))
|
||||
;
|
||||
|
||||
|
|
|
|||
|
|
@ -24,8 +24,7 @@ If you want to benchmark your model in the same conditions as in our CoRL’17
|
|||
paper, check out
|
||||
[Benchmarking](https://github.com/carla-simulator/driving-benchmarks).
|
||||
|
||||
[**Get CARLA overnight build**](http://158.109.9.218:8080/job/carla/job/master/25/artifact/Dist/CARLA_eff21e2.tar.gz)
|
||||
|
||||
[**Get CARLA overnight build**](http://carla-assets-internal.s3.amazonaws.com/Releases/Linux/Dev/CARLA_Latest.tar.gz)
|
||||
|
||||
## CARLA Ecosystem
|
||||
Repositories associated to the CARLA simulation platform:
|
||||
|
|
@ -33,7 +32,7 @@ Repositories associated to the CARLA simulation platform:
|
|||
* [**Scenario_Runner**](https://github.com/carla-simulator/scenario_runner): Engine to execute traffic scenarios in CARLA 0.9.X
|
||||
* [**ROS-bridge**](https://github.com/carla-simulator/ros-bridge): Interface to connect CARLA 0.9.X to ROS
|
||||
* [**Driving-benchmarks**](https://github.com/carla-simulator/driving-benchmarks): Benchmark tools for Autonomous Driving tasks
|
||||
* [**Conditional Imitation-Learning**](https://github.com/felipecode/coiltraine): Training and testing Conditional Imitation Learning models in CARLA [README](https://github.com/felipecode/coiltraine/blob/master/docs/view_agents.md)
|
||||
* [**Conditional Imitation-Learning**](https://github.com/felipecode/coiltraine): Training and testing Conditional Imitation Learning models in CARLA
|
||||
* [**AutoWare AV stack**](https://github.com/carla-simulator/carla-autoware): Bridge to connect AutoWare AV stack to CARLA
|
||||
* [**Reinforcement-Learning**](https://github.com/carla-simulator/reinforcement-learning): Code for running Conditional Reinforcement Learning models in CARLA
|
||||
* [**Map Editor**](https://github.com/carla-simulator/carla-map-editor): Standalone GUI application to enhance RoadRunner maps with traffic lights and traffic signs information
|
||||
|
|
|
|||
|
|
@ -0,0 +1,26 @@
|
|||
// Copyright (c) 2019 Intel Labs.
|
||||
//
|
||||
// This work is licensed under the terms of the MIT license.
|
||||
// For a copy, see <https://opensource.org/licenses/MIT>.
|
||||
|
||||
#include "Carla.h"
|
||||
#include "Carla/Sensor/LaneInvasionSensor.h"
|
||||
#include "StaticMeshResources.h"
|
||||
|
||||
FActorDefinition ALaneInvasionSensor::GetSensorDefinition()
|
||||
{
|
||||
return UActorBlueprintFunctionLibrary::MakeGenericSensorDefinition(TEXT("other"), TEXT("lane_invasion"));
|
||||
}
|
||||
|
||||
ALaneInvasionSensor::ALaneInvasionSensor(const FObjectInitializer &ObjectInitializer)
|
||||
: Super(ObjectInitializer)
|
||||
{
|
||||
PrimaryActorTick.bCanEverTick = false;
|
||||
|
||||
auto MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("RootComponent"));
|
||||
MeshComp->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
|
||||
MeshComp->bHiddenInGame = true;
|
||||
MeshComp->CastShadow = false;
|
||||
MeshComp->PostPhysicsComponentTick.bCanEverTick = false;
|
||||
RootComponent = MeshComp;
|
||||
}
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
// Copyright (c) 2019 Intel Labs.
|
||||
//
|
||||
// This work is licensed under the terms of the MIT license.
|
||||
// For a copy, see <https://opensource.org/licenses/MIT>.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "Carla/Sensor/ShaderBasedSensor.h"
|
||||
|
||||
#include "Carla/Actor/ActorDefinition.h"
|
||||
|
||||
#include "LaneInvasionSensor.generated.h"
|
||||
|
||||
/// LaneInvasion sensor representation
|
||||
/// The actual position calculation is done one client side
|
||||
UCLASS()
|
||||
class CARLA_API ALaneInvasionSensor : public ASensor
|
||||
{
|
||||
GENERATED_BODY()
|
||||
|
||||
public:
|
||||
|
||||
static FActorDefinition GetSensorDefinition();
|
||||
|
||||
ALaneInvasionSensor(const FObjectInitializer &ObjectInitializer);
|
||||
|
||||
};
|
||||
|
|
@ -17,6 +17,13 @@ AObstacleDetectionSensor::AObstacleDetectionSensor(const FObjectInitializer &Obj
|
|||
: Super(ObjectInitializer)
|
||||
{
|
||||
PrimaryActorTick.bCanEverTick = true;
|
||||
|
||||
auto MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("RootComponent"));
|
||||
MeshComp->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
|
||||
MeshComp->bHiddenInGame = true;
|
||||
MeshComp->CastShadow = false;
|
||||
MeshComp->PostPhysicsComponentTick.bCanEverTick = false;
|
||||
RootComponent = MeshComp;
|
||||
}
|
||||
|
||||
FActorDefinition AObstacleDetectionSensor::GetSensorDefinition()
|
||||
|
|
|
|||
|
|
@ -63,11 +63,12 @@ function download_content {
|
|||
aria2c -j16 -x16 --input-file=.aria2c.input
|
||||
rm -f .aria2c.input
|
||||
else
|
||||
wget ${CONTENT_LINK} Content.tar.gz
|
||||
wget ${CONTENT_LINK} -O Content.tar.gz
|
||||
fi
|
||||
tar -xvzf Content.tar.gz -C Content
|
||||
rm Content.tar.gz
|
||||
mv Content/* $CONTENT_FOLDER
|
||||
rm -rf Content
|
||||
echo "$CONTENT_ID" > "$VERSION_FILE"
|
||||
echo "Content updated successfully."
|
||||
}
|
||||
|
|
|
|||
|
|
@ -107,12 +107,15 @@ if $DO_COPY_FILES ; then
|
|||
copy_if_changed "./PythonAPI/manual_control.py" "${DESTINATION}/manual_control.py"
|
||||
copy_if_changed "./PythonAPI/no_rendering_mode.py" "${DESTINATION}/no_rendering_mode.py"
|
||||
copy_if_changed "./PythonAPI/performance_benchmark.py" "${DESTINATION}/performance_benchmark.py"
|
||||
copy_if_changed "./PythonAPI/scene_layout.py" "${DESTINATION}/scene_layout.py"
|
||||
copy_if_changed "./PythonAPI/spawn_npc.py" "${DESTINATION}/spawn_npc.py"
|
||||
copy_if_changed "./PythonAPI/synchronous_mode.py" "${DESTINATION}/synchronous_mode.py"
|
||||
copy_if_changed "./PythonAPI/tutorial.py" "${DESTINATION}/tutorial.py"
|
||||
copy_if_changed "./PythonAPI/vehicle_gallery.py" "${DESTINATION}/vehicle_gallery.py"
|
||||
copy_if_changed "./Util/ImportMaps.sh" "${DESTINATION}/ImportMaps.sh"
|
||||
|
||||
echo "${REPOSITORY_TAG}" > ${DESTINATION}/VERSION
|
||||
|
||||
popd >/dev/null
|
||||
|
||||
fi
|
||||
|
|
|
|||
|
|
@ -184,10 +184,11 @@ set CMAKE_CONFIG_FILE="%INSTALLATION_DIR%CMakeLists.txt.in"
|
|||
>"%CMAKE_CONFIG_FILE%" echo # Automatically generated by Setup.bat
|
||||
>>"%CMAKE_CONFIG_FILE%" echo set(CARLA_VERSION %carla_version%)
|
||||
>>"%CMAKE_CONFIG_FILE%" echo.
|
||||
>>"%CMAKE_CONFIG_FILE%" echo if (WIN32)
|
||||
>>"%CMAKE_CONFIG_FILE%" echo add_definitions(-D_WIN32_WINNT=0x0501)
|
||||
>>"%CMAKE_CONFIG_FILE%" echo STRING (REGEX REPLACE "/RTC(su|[1su])" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
|
||||
>>"%CMAKE_CONFIG_FILE%" echo endif()
|
||||
>>"%CMAKE_CONFIG_FILE%" echo set(CMAKE_CXX_STANDARD 14)
|
||||
>>"%CMAKE_CONFIG_FILE%" echo set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
>>"%CMAKE_CONFIG_FILE%" echo.
|
||||
>>"%CMAKE_CONFIG_FILE%" echo add_definitions(-D_WIN32_WINNT=0x0501)
|
||||
>>"%CMAKE_CONFIG_FILE%" echo STRING (REGEX REPLACE "/RTC(su|[1su])" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
|
||||
>>"%CMAKE_CONFIG_FILE%" echo.
|
||||
>>"%CMAKE_CONFIG_FILE%" echo add_definitions(-DBOOST_ERROR_CODE_HEADER_ONLY)
|
||||
>>"%CMAKE_CONFIG_FILE%" echo add_definitions(-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT)
|
||||
|
|
@ -200,6 +201,8 @@ set CMAKE_CONFIG_FILE="%INSTALLATION_DIR%CMakeLists.txt.in"
|
|||
>>"%CMAKE_CONFIG_FILE%" echo.
|
||||
>>"%CMAKE_CONFIG_FILE%" echo if (CMAKE_BUILD_TYPE STREQUAL "Server")
|
||||
>>"%CMAKE_CONFIG_FILE%" echo # Prevent exceptions
|
||||
>>"%CMAKE_CONFIG_FILE%" echo add_compile_options(/GR-)
|
||||
>>"%CMAKE_CONFIG_FILE%" echo add_compile_options(/EHsc)
|
||||
>>"%CMAKE_CONFIG_FILE%" echo add_definitions(-DASIO_NO_EXCEPTIONS)
|
||||
>>"%CMAKE_CONFIG_FILE%" echo add_definitions(-DBOOST_NO_EXCEPTIONS)
|
||||
>>"%CMAKE_CONFIG_FILE%" echo add_definitions(-DLIBCARLA_NO_EXCEPTIONS)
|
||||
|
|
|
|||
|
|
@ -325,7 +325,7 @@ cat >>${LIBCPP_TOOLCHAIN_FILE}.gen <<EOL
|
|||
|
||||
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -stdlib=libc++" CACHE STRING "" FORCE)
|
||||
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -I${LLVM_INCLUDE}" CACHE STRING "" FORCE)
|
||||
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -fno-exceptions" CACHE STRING "" FORCE)
|
||||
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -fno-exceptions -fno-rtti" CACHE STRING "" FORCE)
|
||||
set(CMAKE_CXX_LINK_FLAGS "\${CMAKE_CXX_LINK_FLAGS} -L${LLVM_LIBPATH}" CACHE STRING "" FORCE)
|
||||
set(CMAKE_CXX_LINK_FLAGS "\${CMAKE_CXX_LINK_FLAGS} -lc++ -lc++abi" CACHE STRING "" FORCE)
|
||||
EOL
|
||||
|
|
|
|||
|
|
@ -27,4 +27,4 @@
|
|||
#
|
||||
# http://carla-assets-internal.s3.amazonaws.com/Content/PUT_FILE_ID_HERE.tar.gz
|
||||
|
||||
Latest: 20190319_7f836a8
|
||||
Latest: 20190327_f6c9b01
|
||||
|
|
|
|||
Loading…
Reference in New Issue