Manual control: retry spawn if collision
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nsubiron
parent
df11f4dd64
commit
7ca171de9c
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@ -114,7 +114,7 @@ except ImportError:
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# ==============================================================================
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# -- World ---------------------------------------------------------------------
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# -- Global functions ----------------------------------------------------------
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# ==============================================================================
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@ -130,36 +130,47 @@ def get_actor_display_name(actor, truncate=250):
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return (name[:truncate-1] + u'\u2026') if len(name) > truncate else name
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# ==============================================================================
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# -- World ---------------------------------------------------------------------
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# ==============================================================================
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class World(object):
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def __init__(self, carla_world, hud):
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self.world = carla_world
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self.hud = hud
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self.world.on_tick(hud.on_world_tick)
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blueprint = self._get_random_blueprint()
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spawn_points = self.world.get_map().get_spawn_points()
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spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
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blueprint.set_attribute('role_name', 'hero')
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self.vehicle = self.world.spawn_actor(blueprint, spawn_point)
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self.collision_sensor = CollisionSensor(self.vehicle, self.hud)
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self.lane_invasion_sensor = LaneInvasionSensor(self.vehicle, self.hud)
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self.camera_manager = CameraManager(self.vehicle, self.hud)
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self.camera_manager.set_sensor(0, notify=False)
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self.controller = None
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self.vehicle = None
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self.collision_sensor = None
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self.lane_invasion_sensor = None
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self.camera_manager = None
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self._weather_presets = find_weather_presets()
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self._weather_index = 0
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self.restart()
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self.world.on_tick(hud.on_world_tick)
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def restart(self):
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cam_index = self.camera_manager._index
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cam_pos_index = self.camera_manager._transform_index
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start_pose = self.vehicle.get_transform()
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start_pose.location.z += 2.0
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start_pose.rotation.roll = 0.0
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start_pose.rotation.pitch = 0.0
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blueprint = self._get_random_blueprint()
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# Keep same camera config if the camera manager exists.
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cam_index = self.camera_manager._index if self.camera_manager is not None else 0
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cam_pos_index = self.camera_manager._transform_index if self.camera_manager is not None else 0
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# Get a random vehicle blueprint.
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blueprint = random.choice(self.world.get_blueprint_library().filter('patrol'))
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blueprint.set_attribute('role_name', 'hero')
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self.destroy()
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self.vehicle = self.world.spawn_actor(blueprint, start_pose)
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if blueprint.has_attribute('color'):
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color = random.choice(blueprint.get_attribute('color').recommended_values)
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blueprint.set_attribute('color', color)
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# Spawn the vehicle.
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if self.vehicle is not None:
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spawn_point = self.vehicle.get_transform()
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spawn_point.location.z += 2.0
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spawn_point.rotation.roll = 0.0
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spawn_point.rotation.pitch = 0.0
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self.destroy()
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self.vehicle = self.world.try_spawn_actor(blueprint, spawn_point)
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while self.vehicle is None:
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spawn_points = self.world.get_map().get_spawn_points()
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spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
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self.vehicle = self.world.try_spawn_actor(blueprint, spawn_point)
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# Set up the sensors.
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self.collision_sensor = CollisionSensor(self.vehicle, self.hud)
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self.lane_invasion_sensor = LaneInvasionSensor(self.vehicle, self.hud)
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self.camera_manager = CameraManager(self.vehicle, self.hud)
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@ -192,13 +203,6 @@ class World(object):
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if actor is not None:
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actor.destroy()
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def _get_random_blueprint(self):
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bp = random.choice(self.world.get_blueprint_library().filter('vehicle'))
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if bp.has_attribute('color'):
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color = random.choice(bp.get_attribute('color').recommended_values)
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bp.set_attribute('color', color)
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return bp
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# ==============================================================================
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# -- KeyboardControl -----------------------------------------------------------
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@ -541,8 +545,8 @@ class CameraManager(object):
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self._hud = hud
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self._recording = False
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self._camera_transforms = [
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carla.Transform(carla.Location(x=1.6, z=1.7)),
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carla.Transform(carla.Location(x=-5.5, z=2.8), carla.Rotation(pitch=-15))]
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carla.Transform(carla.Location(x=-5.5, z=2.8), carla.Rotation(pitch=-15)),
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carla.Transform(carla.Location(x=1.6, z=1.7))]
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self._transform_index = 1
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self._sensors = [
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['sensor.camera.rgb', cc.Raw, 'Camera RGB'],
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@ -715,8 +719,6 @@ def main():
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except KeyboardInterrupt:
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print('\nCancelled by user. Bye!')
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except Exception as error:
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logging.exception(error)
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if __name__ == '__main__':
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