From 71f5b115e2232ea63fa8b3a86762cfc7d9f4a6a1 Mon Sep 17 00:00:00 2001
From: Laurent George <laurent.f.george@gmail.com>
Date: Tue, 5 Jun 2018 16:48:04 +0200
Subject: [PATCH] Fix load params from settings.yaml

Some parameters were not loaded from config file, and only hardcoded default value was used.
---
 carla_ros_bridge/src/carla_ros_bridge/bridge.py | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge.py b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
index 01fc8d3bd..90852326b 100644
--- a/carla_ros_bridge/src/carla_ros_bridge/bridge.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
@@ -57,12 +57,13 @@ class CarlaRosBridge(object):
         self.param_sensors = params.get('sensors', {})
         self.carla_settings = CarlaSettings()
         self.carla_settings.set(
-            SendNonPlayerAgentsInfo=True,
-            NumberOfVehicles=20,
-            NumberOfPedestrians=40,
-            WeatherId=random.choice([1, 3, 7, 8, 14]),
-            SynchronousMode=params['SynchronousMode'],
-            QualityLevel=params['QualityLevel'])
+            SendNonPlayerAgentsInfo=params.get('SendNonPlayerAgentsInfo', True),
+            NumberOfVehicles=params.get('NumberOfVehicles', 20),
+            NumberOfPedestrians=params.get('NumberOfPedestrians', 40),
+            WeatherId=params.get('WeatherId', random.choice([1, 3, 7, 8, 14])),
+            SynchronousMode=params.get('SynchronousMode', True),
+            QualityLevel=params.get('QualityLevel', 'Low')
+            )
         self.carla_settings.randomize_seeds()
 
     def add_sensor(self, name):