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Merge branch 'dev' into julee/fix_enum_to_string

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21
Docs/adv_digital_twin.md
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@ -17,7 +17,26 @@ The __Digital Twin Tool__ enables procedural generation of unique 3D environment
## Building the OSM renderer
If you are using Linux, you have the option of using the OSM renderer in the CARLA interface to navigate a large OSM map region that you have downloaded. You first need to build the OSM renderer. Run `make osmrenderer` inside the CARLA root directory. You may need to upgrade your version of CMake to v3.2 or above in order for this to work. This will create two folders in your build directory called `libosmcout-source` and `libosmcout-build`. Windows users do not have the option of using the OSM renderer and must use directly a URL.
If you are using Linux, you have the option of using the OSM renderer in the CARLA interface to navigate a large OSM map region that you have downloaded. You first need to build the OSM renderer before proceeding to build CARLA. Run `make osmrenderer` inside the CARLA root directory. You may need to upgrade your version of CMake to v3.2 or above in order for this to work. This will create two folders in your build directory called `libosmcout-source` and `libosmcout-build`. Before proceeding to build CARLA, you need to then edit the `Build.sh` file in the directory `$CARLA_ROOT/Build/libosmcout-source/maps` like so, to ensure the executable is found:
```bash
if [[ -x ../Import/src/Import ]]; then
importExe=../Import/src/Import
elif [[ -x ../debug/Import/Import ]]; then
importExe=../debug/Import/Import
elif [[ -x ../build/Import/Import ]]; then
importExe=../build/Import/Import
################### Add this line ####################
elif [ -x ../../libosmscout-build/Import/Import ]; then
importExe=../../libosmscout-build/Import/Import
#######################################################
else
echo "Cannot find Import executable!"
exit 1
fi
```
Then continue to build CARLA in the normal way. Windows users do not have the option of using the OSM renderer and must directly the URL.
## Downloading and preparing OSM map data

2
Docs/build_faq.md
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@ -76,7 +76,7 @@ CARLA forum</a>
> CARLA is a performance demanding software. At the very minimum it requires a 6GB GPU or, even better, a dedicated GPU capable of running Unreal Engine.
>
> Take a look at [Unreal Engine's recommended hardware](https://www.ue4community.wiki/recommended-hardware-x1p9qyg0).
> Take a look at [Unreal Engine's recommended hardware](https://dev.epicgames.com/documentation/en-us/unreal-engine/hardware-and-software-specifications-for-unreal-engine).
---

28
Docs/core_map.md
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@ -23,6 +23,7 @@ After discussing about the world and its actors, it is time to put everything in
- [Add map package](tuto_M_add_map_package.md)
- [Add map source](tuto_M_add_map_source.md)
- [Alternative methods](tuto_M_add_map_alternative.md)
- [__Additional maps__](#additional-maps)
---
@ -257,6 +258,9 @@ Non-layered maps are shown in the table below (click the town name to see an ove
| [__Town11__](map_town11.md) | A Large Map that is undecorated. Serves as a proof of concept for the Large Maps feature. |
| [__Town12__](map_town12.md) | A Large Map with numerous different regions, including high-rise, residential and rural environments.|
!!! note
Town06 and Town07 are additional content which does not come with the standard CARLA package. Please see the [additional maps section](#additional-maps) for details on how to import these.
### Layered maps
The layout of layered maps is the same as non-layered maps but it is possible to toggle off and on the layers of the map. There is a minimum layout that cannot be toggled off and consists of roads, sidewalks, traffic lights and traffic signs. Layered maps can be identified by the suffix `_Opt`, for example, `Town01_Opt`. With these maps it is possible to [load][load_layer] and [unload][unload_layer] layers via the Python API:
@ -291,3 +295,27 @@ CARLA is designed to be extensible and highly customisable for specialist applic
* [__Add map package__](tuto_M_add_map_package.md)
* [__Add map source__](tuto_M_add_map_source.md)
* [__Alternative methods__](tuto_M_add_map_alternative.md)
## Additional maps
Each release has it's own additional package of extra assets and maps. This additional package includes the maps __Town06__ and __Town07__. These are stored separately to reduce the size of the build, so they can only be imported after the main package has been installed.
__1.__ [Download](https://github.com/carla-simulator/carla/blob/master/Docs/download.md) the appropriate package for your desired version of CARLA.
__2.__ Extract the package:
- __On Linux__:
- move the package to the _Import_ folder and run the following script to extract the contents:
```sh
cd path/to/carla/root
./ImportAssets.sh
```
- __On Windows__:
- Extract the contents directly in the root folder.
---

700
Docs/python_api.md
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@ -434,7 +434,13 @@ Enum declaration that contains the different tags available to filter the boundi
- <a name="carla.CityObjectLabel.Sidewalks"></a>**<font color="#f8805a">Sidewalks</font>**
- <a name="carla.CityObjectLabel.TrafficSigns"></a>**<font color="#f8805a">TrafficSigns</font>**
- <a name="carla.CityObjectLabel.Vegetation"></a>**<font color="#f8805a">Vegetation</font>**
- <a name="carla.CityObjectLabel.Vehicles"></a>**<font color="#f8805a">Vehicles</font>**
- <a name="carla.CityObjectLabel.Car"></a>**<font color="#f8805a">Car</font>**
- <a name="carla.CityObjectLabel.Bus"></a>**<font color="#f8805a">Bus</font>**
- <a name="carla.CityObjectLabel.Truck"></a>**<font color="#f8805a">Truck</font>**
- <a name="carla.CityObjectLabel.Motorcycle"></a>**<font color="#f8805a">Motorcycle</font>**
- <a name="carla.CityObjectLabel.Bicycle"></a>**<font color="#f8805a">Bicycle</font>**
- <a name="carla.CityObjectLabel.Rider"></a>**<font color="#f8805a">Rider</font>**
- <a name="carla.CityObjectLabel.Train"></a>**<font color="#f8805a">Train</font>**
- <a name="carla.CityObjectLabel.Walls"></a>**<font color="#f8805a">Walls</font>**
- <a name="carla.CityObjectLabel.Sky"></a>**<font color="#f8805a">Sky</font>**
- <a name="carla.CityObjectLabel.Ground"></a>**<font color="#f8805a">Ground</font>**
@ -484,12 +490,23 @@ Creates a new world with default settings using `map_name` map. All actors in th
- `map_name` (_str_) - Name of the map to be used in this world. Accepts both full paths and map names, e.g. '/Game/Carla/Maps/Town01' or 'Town01'. Remember that these paths are dynamic.
- `reset_settings` (_bool_) - Option to reset the episode setting to default values, set to false to keep the current settings. This is useful to keep sync mode when changing map and to keep deterministic scenarios.
- `map_layers` (_[carla.MapLayer](#carla.MapLayer)_) - Layers of the map that will be loaded. By default all layers are loaded. This parameter works like a flag mask.
- **Return:** _[carla.World](#carla.World)_
- **Warning:** <font color="#ED2F2F">_`map_layers` are only available for "Opt" maps
_</font>
- <a name="carla.Client.load_world_if_different"></a>**<font color="#7fb800">load_world_if_different</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**map_name**</font>, <font color="#00a6ed">**reset_settings**=True</font>, <font color="#00a6ed">**map_layers**=[carla.MapLayer.All](#carla.MapLayer.All)</font>)
Creates a new world with default settings using `map_name` map only if it is a different map from the currently loaded map. Otherwise this function returns `None`. All actors in the current world will be destroyed.
- **Parameters:**
- `map_name` (_str_) - Name of the map to be used in this world. Accepts both full paths and map names, e.g. '/Game/Carla/Maps/Town01' or 'Town01'. Remember that these paths are dynamic.
- `reset_settings` (_bool_) - Option to reset the episode setting to default values, set to false to keep the current settings. This is useful to keep sync mode when changing map and to keep deterministic scenarios.
- `map_layers` (_[carla.MapLayer](#carla.MapLayer)_) - Layers of the map that will be loaded. By default all layers are loaded. This parameter works like a flag mask.
- **Return:** _[carla.World](#carla.World)_
- **Warning:** <font color="#ED2F2F">_`map_layers` are only available for "Opt" maps
_</font>
- <a name="carla.Client.reload_world"></a>**<font color="#7fb800">reload_world</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**reset_settings**=True</font>)
Reload the current world, note that a new world is created with default settings using the same map. All actors present in the world will be destroyed, __but__ traffic manager instances will stay alive.
- **Parameters:**
- `reset_settings` (_bool_) - Option to reset the episode setting to default values, set to false to keep the current settings. This is useful to keep sync mode when changing map and to keep deterministic scenarios.
- **Return:** _[carla.World](#carla.World)_
- **Raises:** RuntimeError when corresponding.
- <a name="carla.Client.replay_file"></a>**<font color="#7fb800">replay_file</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**name**</font>, <font color="#00a6ed">**start**</font>, <font color="#00a6ed">**duration**</font>, <font color="#00a6ed">**follow_id**</font>, <font color="#00a6ed">**replay_sensors**</font>)
Load a new world with default settings using `map_name` map. All actors present in the current world will be destroyed, __but__ traffic manager instances will stay alive.
@ -3771,9 +3788,9 @@ When enabled, the simulation will run no rendering at all. This is mainly used t
- <a name="carla.WorldSettings.fixed_delta_seconds"></a>**<font color="#f8805a">fixed_delta_seconds</font>** (_float_)
Ensures that the time elapsed between two steps of the simulation is fixed. Set this to <b>0.0</b> to work with a variable time-step, as happens by default.
- <a name="carla.WorldSettings.substepping"></a>**<font color="#f8805a">substepping</font>** (_bool_)
Enable the physics substepping. This option allows computing some physics substeps between two render frames. If synchronous mode is set, the number of substeps and its time interval are fixed and computed are so they fulfilled the requirements of [carla.WorldSettings.max_substep](#carla.WorldSettings.max_substep) and [carla.WorldSettings.max_substep_delta_time](#carla.WorldSettings.max_substep_delta_time). These last two parameters need to be compatible with [carla.WorldSettings.fixed_delta_seconds](#carla.WorldSettings.fixed_delta_seconds). Enabled by default.
Enable the physics substepping. This option allows computing some physics substeps between two render frames. If synchronous mode is set, the number of substeps and its time interval are fixed and computed are so they fulfilled the requirements of [carla.WorldSettings.max_substeps](#carla.WorldSettings.max_substeps) and [carla.WorldSettings.max_substep_delta_time](#carla.WorldSettings.max_substep_delta_time). These last two parameters need to be compatible with [carla.WorldSettings.fixed_delta_seconds](#carla.WorldSettings.fixed_delta_seconds). Enabled by default.
- <a name="carla.WorldSettings.max_substep_delta_time"></a>**<font color="#f8805a">max_substep_delta_time</font>** (_float_)
Maximum delta time of the substeps. If the [carla.WorldSettingsmax_substep](#carla.WorldSettingsmax_substep) is high enough, the substep delta time would be always below or equal to this value. By default, the value is set to 0.01.
Maximum delta time of the substeps. If the [carla.WorldSettings.max_substeps](#carla.WorldSettings.max_substeps) is high enough, the substep delta time would be always below or equal to this value. By default, the value is set to 0.01.
- <a name="carla.WorldSettings.max_substeps"></a>**<font color="#f8805a">max_substeps</font>** (_int_)
The maximum number of physics substepping that are allowed. By default, the value is set to 10.
- <a name="carla.WorldSettings.max_culling_distance"></a>**<font color="#f8805a">max_culling_distance</font>** (_float_)
@ -4072,6 +4089,11 @@ Actor affected by the command.
---
## command.FutureActor<a name="command.FutureActor"></a>
A utility object used to reference an actor that will be created in the command in the previous step, it has no parameters or methods.
---
## command.Response<a name="command.Response"></a>
States the result of executing a command as either the ID of the actor to whom the command was applied to (when succeeded) or an error string (when failed). actor ID, depending on whether or not the command succeeded. The method __<font color="#7fb800">apply_batch_sync()</font>__ in [carla.Client](#carla.Client) returns a list of these to summarize the execution of a batch.
@ -4226,6 +4248,71 @@ document.getElementById("snipets-container").innerHTML = null;
}
</script>
<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.unload_map_layer
</p>
<div id="carla.World.unload_map_layer-code" class="SnipetContent">
```py
# This recipe toggles off several layers in our "_Opt" maps
# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
# as well as buildings and parked vehicles
world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
# Toggle all buildings off
world.unload_map_layer(carla.MapLayer.Buildings)
# Toggle all parked vehicles off
world.unload_map_layer(carla.MapLayer.ParkedVehicles)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.DebugHelper.draw_string-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.DebugHelper.draw_string
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<div id="carla.DebugHelper.draw_string-code" class="SnipetContent">
```py
# This recipe is a modification of lane_explorer.py example.
# It draws the path of an actor through the world, printing information at each waypoint.
# ...
current_w = map.get_waypoint(vehicle.get_location())
while True:
next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
# Check if the vehicle is moving
if next_w.id != current_w.id:
vector = vehicle.get_velocity()
# Check if the vehicle is on a sidewalk
if current_w.lane_type == carla.LaneType.Sidewalk:
draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
else:
draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
draw_transform(debug, current_w.transform, white, 60)
# Update the current waypoint and sleep for some time
current_w = next_w
time.sleep(args.tick_time)
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_string-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.ActorBlueprint.set_attribute
@ -4260,6 +4347,247 @@ camera_bp.set_attribute('image_size_y', 600)
</div>
<div id ="carla.World.get_spectator-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.get_spectator
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<div id="carla.World.get_spectator-code" class="SnipetContent">
```py
# This recipe spawns an actor and the spectator camera at the actor's location.
# ...
world = client.get_world()
spectator = world.get_spectator()
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
transform = random.choice(world.get_map().get_spawn_points())
vehicle = world.try_spawn_actor(vehicle_bp, transform)
# Wait for world to get the vehicle actor
world.tick()
world_snapshot = world.wait_for_tick()
actor_snapshot = world_snapshot.find(vehicle.id)
# Set spectator at given transform (vehicle transform)
spectator.set_transform(actor_snapshot.get_transform())
# ...
```
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Snippet for carla.Sensor.listen
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<div id="carla.Sensor.listen-code" class="SnipetContent">
```py
# This recipe applies a color conversion to the image taken by a camera sensor,
# so it is converted to a semantic segmentation image.
# ...
camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
# ...
cc = carla.ColorConverter.CityScapesPalette
camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
# ...
```
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Snippet for carla.World.load_map_layer
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<div id="carla.World.load_map_layer-code" class="SnipetContent">
```py
# This recipe toggles on several layers in our "_Opt" maps
# Load town one with only minimum layout (roads, sidewalks, traffic lights and traffic signs)
world = client.load_world('Town01_Opt', carla.MapLayer.None)
# Toggle all buildings on
world.load_map_layer(carla.MapLayer.Buildings)
# Toggle all foliage on
world.load_map_layer(carla.MapLayer.Foliage)
# Toggle all parked vehicles on
world.load_map_layer(carla.MapLayer.ParkedVehicles)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.load_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Map.get_waypoint
</p>
<div id="carla.Map.get_waypoint-code" class="SnipetContent">
```py
# This recipe shows the current traffic rules affecting the vehicle.
# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
# ...
waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
print("Current lane type: " + str(waypoint.lane_type))
# Check current lane change allowed
print("Current Lane change: " + str(waypoint.lane_change))
# Left and Right lane markings
print("L lane marking type: " + str(waypoint.left_lane_marking.type))
print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
print("R lane marking type: " + str(waypoint.right_lane_marking.type))
print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
# ...
```
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<div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.TrafficLight.set_state
</p>
<div id="carla.TrafficLight.set_state-code" class="SnipetContent">
```py
# This recipe changes from red to green the traffic light that affects the vehicle.
# This is done by detecting if the vehicle actor is at a traffic light.
# ...
world = client.get_world()
spectator = world.get_spectator()
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
transform = random.choice(world.get_map().get_spawn_points())
vehicle = world.try_spawn_actor(vehicle_bp, transform)
# Wait for world to get the vehicle actor
world.tick()
world_snapshot = world.wait_for_tick()
actor_snapshot = world_snapshot.find(vehicle.id)
# Set spectator at given transform (vehicle transform)
spectator.set_transform(actor_snapshot.get_transform())
# ...# ...
if vehicle_actor.is_at_traffic_light():
traffic_light = vehicle_actor.get_traffic_light()
if traffic_light.get_state() == carla.TrafficLightState.Red:
# world.hud.notification("Traffic light changed! Good to go!")
traffic_light.set_state(carla.TrafficLightState.Green)
# ...
```
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<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Vehicle.set_wheel_steer_direction
</p>
<div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
```py
# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
```
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Snippet for carla.DebugHelper.draw_box
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<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
```py
# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
# ....
debug = world.debug
world_snapshot = world.get_snapshot()
for actor_snapshot in world_snapshot:
actual_actor = world.get_actor(actor_snapshot.id)
if actual_actor.type_id == 'traffic.traffic_light':
debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
# ...
```
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</div>
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.WalkerAIController.stop
</p>
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
```py
#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
# stop pedestrians (list is [controller, actor, controller, actor ...])
for i in range(0, len(all_id), 2):
all_actors[i].stop()
# destroy pedestrian (actor and controller)
client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
```
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<div id ="carla.Client.apply_batch_sync-snipet" style="display: none;">
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Snippet for carla.Client.apply_batch_sync
@ -4333,6 +4661,36 @@ for i in range(0, len(all_actors), 2):
</div>
<div id ="carla.World.enable_environment_objects-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.enable_environment_objects
</p>
<div id="carla.World.enable_environment_objects-code" class="SnipetContent">
```py
# This recipe turn visibility off and on for two specifc buildings on the map
# Get the buildings in the world
world = client.get_world()
env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
# Access individual building IDs and save in a set
building_01 = env_objs[0]
building_02 = env_objs[1]
objects_to_toggle = {building_01.id, building_02.id}
# Toggle buildings off
world.enable_environment_objects(objects_to_toggle, False)
# Toggle buildings on
world.enable_environment_objects(objects_to_toggle, True)
```
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<div id ="carla.Client.__init__-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Client.__init__
@ -4378,316 +4736,6 @@ Snippet for carla.Client.__init__
</div>
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.DebugHelper.draw_box
</p>
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
```py
# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
# ....
debug = world.debug
world_snapshot = world.get_snapshot()
for actor_snapshot in world_snapshot:
actual_actor = world.get_actor(actor_snapshot.id)
if actual_actor.type_id == 'traffic.traffic_light':
debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
# ...
```
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<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
</div>
<div id ="carla.DebugHelper.draw_string-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.DebugHelper.draw_string
</p>
<div id="carla.DebugHelper.draw_string-code" class="SnipetContent">
```py
# This recipe is a modification of lane_explorer.py example.
# It draws the path of an actor through the world, printing information at each waypoint.
# ...
current_w = map.get_waypoint(vehicle.get_location())
while True:
next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
# Check if the vehicle is moving
if next_w.id != current_w.id:
vector = vehicle.get_velocity()
# Check if the vehicle is on a sidewalk
if current_w.lane_type == carla.LaneType.Sidewalk:
draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
else:
draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
draw_transform(debug, current_w.transform, white, 60)
# Update the current waypoint and sleep for some time
current_w = next_w
time.sleep(args.tick_time)
# ...
```
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<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Map.get_waypoint
</p>
<div id="carla.Map.get_waypoint-code" class="SnipetContent">
```py
# This recipe shows the current traffic rules affecting the vehicle.
# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
# ...
waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
print("Current lane type: " + str(waypoint.lane_type))
# Check current lane change allowed
print("Current Lane change: " + str(waypoint.lane_change))
# Left and Right lane markings
print("L lane marking type: " + str(waypoint.left_lane_marking.type))
print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
print("R lane marking type: " + str(waypoint.right_lane_marking.type))
print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
# ...
```
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<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
</div>
<div id ="carla.Sensor.listen-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Sensor.listen
</p>
<div id="carla.Sensor.listen-code" class="SnipetContent">
```py
# This recipe applies a color conversion to the image taken by a camera sensor,
# so it is converted to a semantic segmentation image.
# ...
camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
# ...
cc = carla.ColorConverter.CityScapesPalette
camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
# ...
```
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</div>
<div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.TrafficLight.set_state
</p>
<div id="carla.TrafficLight.set_state-code" class="SnipetContent">
```py
# This recipe changes from red to green the traffic light that affects the vehicle.
# This is done by detecting if the vehicle actor is at a traffic light.
# ...
world = client.get_world()
spectator = world.get_spectator()
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
transform = random.choice(world.get_map().get_spawn_points())
vehicle = world.try_spawn_actor(vehicle_bp, transform)
# Wait for world to get the vehicle actor
world.tick()
world_snapshot = world.wait_for_tick()
actor_snapshot = world_snapshot.find(vehicle.id)
# Set spectator at given transform (vehicle transform)
spectator.set_transform(actor_snapshot.get_transform())
# ...# ...
if vehicle_actor.is_at_traffic_light():
traffic_light = vehicle_actor.get_traffic_light()
if traffic_light.get_state() == carla.TrafficLightState.Red:
# world.hud.notification("Traffic light changed! Good to go!")
traffic_light.set_state(carla.TrafficLightState.Green)
# ...
```
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<img src="/img/snipets_images/carla.TrafficLight.set_state.gif">
</div>
<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Vehicle.set_wheel_steer_direction
</p>
<div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
```py
# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
```
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</div>
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.WalkerAIController.stop
</p>
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
```py
#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
# stop pedestrians (list is [controller, actor, controller, actor ...])
for i in range(0, len(all_id), 2):
all_actors[i].stop()
# destroy pedestrian (actor and controller)
client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
```
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<div id ="carla.World.enable_environment_objects-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.enable_environment_objects
</p>
<div id="carla.World.enable_environment_objects-code" class="SnipetContent">
```py
# This recipe turn visibility off and on for two specifc buildings on the map
# Get the buildings in the world
world = client.get_world()
env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
# Access individual building IDs and save in a set
building_01 = env_objs[0]
building_02 = env_objs[1]
objects_to_toggle = {building_01.id, building_02.id}
# Toggle buildings off
world.enable_environment_objects(objects_to_toggle, False)
# Toggle buildings on
world.enable_environment_objects(objects_to_toggle, True)
```
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</div>
<div id ="carla.World.get_spectator-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.get_spectator
</p>
<div id="carla.World.get_spectator-code" class="SnipetContent">
```py
# This recipe spawns an actor and the spectator camera at the actor's location.
# ...
world = client.get_world()
spectator = world.get_spectator()
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
transform = random.choice(world.get_map().get_spawn_points())
vehicle = world.try_spawn_actor(vehicle_bp, transform)
# Wait for world to get the vehicle actor
world.tick()
world_snapshot = world.wait_for_tick()
actor_snapshot = world_snapshot.find(vehicle.id)
# Set spectator at given transform (vehicle transform)
spectator.set_transform(actor_snapshot.get_transform())
# ...
```
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</div>
<div id ="carla.World.load_map_layer-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.load_map_layer
</p>
<div id="carla.World.load_map_layer-code" class="SnipetContent">
```py
# This recipe toggles on several layers in our "_Opt" maps
# Load town one with only minimum layout (roads, sidewalks, traffic lights and traffic signs)
world = client.load_world('Town01_Opt', carla.MapLayer.None)
# Toggle all buildings on
world.load_map_layer(carla.MapLayer.Buildings)
# Toggle all foliage on
world.load_map_layer(carla.MapLayer.Foliage)
# Toggle all parked vehicles on
world.load_map_layer(carla.MapLayer.ParkedVehicles)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.load_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.World.spawn_actor-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.spawn_actor
@ -4713,32 +4761,6 @@ lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, att
</div>
<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.unload_map_layer
</p>
<div id="carla.World.unload_map_layer-code" class="SnipetContent">
```py
# This recipe toggles off several layers in our "_Opt" maps
# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
# as well as buildings and parked vehicles
world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
# Toggle all buildings off
world.unload_map_layer(carla.MapLayer.Buildings)
# Toggle all parked vehicles off
world.unload_map_layer(carla.MapLayer.ParkedVehicles)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div>
</div>

2
Docs/start_quickstart.md
View File

@ -106,7 +106,7 @@ The package is a compressed file named __CARLA_version.number__. Download and ex
---
## Import additional assets
Each release has it's own additional package of extra assets and maps. This additional package includes the maps __Town06__, __Town07__, and __Town10__. These are stored separately to reduce the size of the build, so they can only be imported after the main package has been installed.
Each release has it's own additional package of extra assets and maps. This additional package includes the maps __Town06__ and __Town07__. These are stored separately to reduce the size of the build, so they can only be imported after the main package has been installed.
__1.__ [Download](https://github.com/carla-simulator/carla/blob/master/Docs/download.md) the appropriate package for your desired version of CARLA.

5
Docs/tuto_M_generate_map.md
View File

@ -32,7 +32,7 @@ You will need to install RoadRunner. You can follow the [installation guide][rr_
## Build a map in RoadRunner
The specifics of how to build a map in RoadRunner go beyond the scope of this guide, however, there are video tutorials available in the [RoadRunner documentation][rr_tutorials].
The specifics of how to build a map in RoadRunner go beyond the scope of this guide, however, there is an introductory tutorial series available on the [MathWorks website][rr_intro_tutorials] and there are video tutorials for specific actions available in the [RoadRunner documentation][rr_tutorials].
__Keep in mind that a map heavy with props can slow the import process significantly.__ This is because Unreal Engine needs to convert every mesh to an Unreal asset. If you plan to import your map into a source build version of CARLA, we highly recommend that you only create the road layout in RoadRunner and leave any customization until after the map has been imported into Unreal Engine. CARLA provides several tools that you can use in the Unreal Engine editor to simplify the customization process.
@ -41,6 +41,7 @@ __Keep in mind that a map heavy with props can slow the import process significa
## Export a map in RoadRunner
[rr_tutorials]: https://www.mathworks.com/support/search.html?fq=asset_type_name:video%20category:roadrunner/index&page=1&s_tid=CRUX_topnav
[rr_intro_tutorials]: https://www.mathworks.com/solutions/automated-driving/roadrunner-tutorial.html
Below is a basic guideline to export your custom map from RoadRunner. You can find more detailed information about how to export to CARLA in [MathWorks' documentation][exportlink].
@ -104,4 +105,4 @@ If you have any questions about the process, then you can ask in the [forum](htt
<a href="https://github.com/carla-simulator/carla/discussions" target="_blank" class="btn btn-neutral" title="Go to the CARLA forum">
CARLA forum</a>
</p>
</div>
</div>

27
PythonAPI/docs/client.yml
View File

@ -101,6 +101,7 @@
doc: >
Layers of the map that will be loaded. By default all layers are loaded.
This parameter works like a flag mask.
return: carla.World
warning: >
`map_layers` are only available for "Opt" maps
doc: >
@ -114,11 +115,37 @@
doc: >
Option to reset the episode setting to default values, set to false to keep the current settings.
This is useful to keep sync mode when changing map and to keep deterministic scenarios.
return: carla.World
raises: RuntimeError when corresponding.
doc: >
Reload the current world, note that a new world is created with default
settings using the same map. All actors present in the world will be
destroyed, __but__ traffic manager instances will stay alive.
# --------------------------------------
- def_name: load_world_if_different
params:
- param_name: map_name
type: str
doc: >
Name of the map to be used in this world. Accepts both full paths and map names, e.g.
'/Game/Carla/Maps/Town01' or 'Town01'. Remember that these paths are dynamic.
- param_name: reset_settings
type: bool
default: true
doc: >
Option to reset the episode setting to default values, set to false to keep the current settings.
This is useful to keep sync mode when changing map and to keep deterministic scenarios.
- param_name: map_layers
type: carla.MapLayer
default: carla.MapLayer.All
doc: >
Layers of the map that will be loaded. By default all layers are loaded.
This parameter works like a flag mask.
return: carla.World
warning: >
`map_layers` are only available for "Opt" maps
doc: >
Creates a new world with default settings using `map_name` map only if it is a different map from the currently loaded map. Otherwise this function returns `None`. All actors in the current world will be destroyed.
# --------------------------------------
- def_name: replay_file
params:

6
PythonAPI/docs/commands.yml
View File

@ -69,7 +69,11 @@
doc: >
Links another command to be executed right after. It allows to ease very common flows such as spawning a set of vehicles by command and then using this method to set them to autopilot automatically.
# --------------------------------------
- class_name: FutureActor
# - DESCRIPTION ------------------------
doc: >
A utility object used to reference an actor that will be created in the command in the previous step, it has no parameters or methods.
# --------------------------------------
- class_name: DestroyActor
# - DESCRIPTION ------------------------
doc: >

8
PythonAPI/docs/sensor_data.yml
View File

@ -70,7 +70,13 @@
- var_name: Sidewalks
- var_name: TrafficSigns
- var_name: Vegetation
- var_name: Vehicles
- var_name: Car
- var_name: Bus
- var_name: Truck
- var_name: Motorcycle
- var_name: Bicycle
- var_name: Rider
- var_name: Train
- var_name: Walls
- var_name: Sky
- var_name: Ground

4
PythonAPI/docs/world.yml
View File

@ -125,11 +125,11 @@
- var_name: substepping
type: bool
doc: >
Enable the physics substepping. This option allows computing some physics substeps between two render frames. If synchronous mode is set, the number of substeps and its time interval are fixed and computed are so they fulfilled the requirements of carla.WorldSettings.max_substep and carla.WorldSettings.max_substep_delta_time. These last two parameters need to be compatible with carla.WorldSettings.fixed_delta_seconds. Enabled by default.
Enable the physics substepping. This option allows computing some physics substeps between two render frames. If synchronous mode is set, the number of substeps and its time interval are fixed and computed are so they fulfilled the requirements of carla.WorldSettings.max_substeps and carla.WorldSettings.max_substep_delta_time. These last two parameters need to be compatible with carla.WorldSettings.fixed_delta_seconds. Enabled by default.
- var_name: max_substep_delta_time
type: float
doc: >
Maximum delta time of the substeps. If the carla.WorldSettingsmax_substep is high enough, the substep delta time would be always below or equal to this value. By default, the value is set to 0.01.
Maximum delta time of the substeps. If the carla.WorldSettings.max_substeps is high enough, the substep delta time would be always below or equal to this value. By default, the value is set to 0.01.
- var_name: max_substeps
type: int
doc: >

2
Util/BuildTools/Setup.sh
View File

@ -259,7 +259,7 @@ else
git clone --depth=1 -b release-${GTEST_VERSION} https://github.com/google/googletest.git ${GTEST_BASENAME}-source
end_download_time=$(date +%s)
echo "Elapsed Time downloading rpclib: $(($end-$start)) seconds"
echo "Elapsed Time downloading rpclib: $(($end_download_time-$start_download_time)) seconds"
log "Building Google Test with libc++."

2
Util/InstallersWin/install_zlib.bat
View File

@ -54,7 +54,7 @@ set ZLIB_TEMP_FOLDER=%ZLIB_BASENAME%-%ZLIB_VERSION%
set ZLIB_TEMP_FILE=%ZLIB_TEMP_FOLDER%.zip
set ZLIB_TEMP_FILE_DIR=%BUILD_DIR%%ZLIB_TEMP_FILE%
set ZLIB_REPO=https://www.zlib.net/zlib%ZLIB_VERSION:.=%.zip
set ZLIB_REPO=https://github.com/madler/zlib/archive/refs/tags/v%ZLIB_VERSION%.zip
set ZLIB_BACKUP_REPO=https://carla-releases.s3.us-east-005.backblazeb2.com/Backup/zlib%ZLIB_VERSION:.=%.zip
set ZLIB_SRC_DIR=%BUILD_DIR%%ZLIB_BASENAME%-source\
set ZLIB_INSTALL_DIR=%BUILD_DIR%%ZLIB_BASENAME%-install\