Fixes from PR

LibCarla/source/carla/client/WalkerAIController.cpp

@@ -21,24 +21,34 @@ namespace client {
     auto walker = GetParent();
     if (walker != nullptr) {
       auto nav = GetEpisode().Lock()->GetNavigation();
-      nav->AddWalker(walker->GetId(), location);
+      if (nav != nullptr) {
+        nav->AddWalker(walker->GetId(), location);
+      }
     }
   }
 
   geom::Location WalkerAIController::GetRandomLocation() {
     auto nav = GetEpisode().Lock()->GetNavigation();
-    return nav->GetRandomLocation();
+    if (nav != nullptr) {
+      return nav->GetRandomLocation();
+    }
+    return geom::Location(0, 0, 0);
   }
 
   void WalkerAIController::GoToLocation(const carla::geom::Location &destination) {
     auto nav = GetEpisode().Lock()->GetNavigation();
-    if (!nav->SetWalkerTarget(GetParent()->GetId(), destination))
-      logging::log("NAV: Failed to set request to go to ", destination.x, destination.y, destination.z);
+    if (nav != nullptr) {
+      if (!nav->SetWalkerTarget(GetParent()->GetId(), destination))
+        logging::log("NAV: Failed to set request to go to ", destination.x, destination.y, destination.z);
+    }
   }
 
   void WalkerAIController::SetMaxSpeed(const float max_speed) {
-
-    logging::log("SET MAX SPEED: ", max_speed);
+  auto nav = GetEpisode().Lock()->GetNavigation();
+    if (nav != nullptr) {
+      if (!nav->SetWalkerMaxSpeed(GetParent()->GetId(), max_speed))
+        logging::log("NAV: failed to set max speed");
+    }
   }
 
 } // namespace client

LibCarla/source/carla/client/detail/WalkerNavigation.cpp

@@ -18,14 +18,6 @@ namespace detail {
   WalkerNavigation::WalkerNavigation(Client &client) : _client(client) {
     // Here call the server to retrieve the navmesh data.
     _nav.Load(_client.GetNavigationMesh());
-
-    // query the navigation to find a path of points
-    // std::vector<carla::geom::Location> Path;
-    // if (!_nav.GetPath(From, To, nullptr, Path)) {
-    //   logging::log("NAV: Path not found");
-    // }
-    // return Path;
-
   }
 
   void WalkerNavigation::Tick(const EpisodeState &state) {

LibCarla/source/carla/client/detail/WalkerNavigation.h

@@ -46,16 +46,21 @@ namespace detail {
 
     // Get Random location in nav mesh
     geom::Location GetRandomLocation() {
-      geom::Location random_location;
+      geom::Location random_location(0, 0, 0);
       _nav.GetRandomLocation(random_location, 1.0f);
       return random_location;
     }
 
     // set a new target point to go
-    bool SetWalkerTarget(ActorId id, carla::geom::Location to) {
+    bool SetWalkerTarget(ActorId id, const carla::geom::Location to) {
       return _nav.SetWalkerTarget(id, to);
     }
 
+    // set new max speed
+    bool SetWalkerMaxSpeed(ActorId id, float max_speed) {
+      return _nav.SetWalkerMaxSpeed(id, max_speed);
+    }
+
   private:
 
     Client &_client;

LibCarla/source/carla/nav/Navigation.cpp

@@ -10,15 +10,42 @@
 #include "carla/Logging.h"
 #include "carla/nav/Navigation.h"
 
-#include <iostream>
 #include <iterator>
 #include <fstream>
 
 namespace carla {
 namespace nav {
 
+  enum SamplePolyAreas {
+    SAMPLE_POLYAREA_GROUND,
+    SAMPLE_POLYAREA_WATER,
+    SAMPLE_POLYAREA_ROAD,
+    SAMPLE_POLYAREA_DOOR,
+    SAMPLE_POLYAREA_GRASS,
+    SAMPLE_POLYAREA_JUMP,
+  };
+
+  enum SamplePolyFlags {
+    SAMPLE_POLYFLAGS_WALK		    = 0x01,		// Ability to walk (ground, grass, road)
+    SAMPLE_POLYFLAGS_SWIM		    = 0x02,		// Ability to swim (water).
+    SAMPLE_POLYFLAGS_DOOR		    = 0x04,		// Ability to move through doors.
+    SAMPLE_POLYFLAGS_JUMP		    = 0x08,		// Ability to jump.
+    SAMPLE_POLYFLAGS_DISABLED	  = 0x10,		// Disabled polygon
+    SAMPLE_POLYFLAGS_ALL		    = 0xffff	// All abilities.
+  };
+
+  enum UpdateFlags
+  {
+    DT_CROWD_ANTICIPATE_TURNS = 1,
+    DT_CROWD_OBSTACLE_AVOIDANCE = 2,
+    DT_CROWD_SEPARATION = 4,
+    DT_CROWD_OPTIMIZE_VIS = 8,			///< Use #dtPathCorridor::optimizePathVisibility() to optimize the agent path.
+    DT_CROWD_OPTIMIZE_TOPO = 16,		///< Use dtPathCorridor::optimizePathTopology() to optimize the agent path.
+  };
+
   static const int MAX_POLYS = 256;
   static const int MAX_AGENTS = 500;
+  static const int MAX_QUERY_SEARCH_NODES = 2048;
   static const float AGENT_RADIUS = 0.3f;
 
   // return a random float
@@ -26,9 +53,6 @@ namespace nav {
     return static_cast<float>(rand()) / static_cast<float>(RAND_MAX);
   }
 
-  Navigation::Navigation() {
-  }
-
   Navigation::~Navigation() {
     _mappedId.clear();
     _baseHeight.clear();
@@ -84,6 +108,10 @@ namespace nav {
 
     // allocate object
     dtNavMesh* mesh = dtAllocNavMesh();
+    if (!mesh) {
+      return false;
+    }
+
     // set number of tiles and origin
     dtStatus status = mesh->init(&header.params);
     if (dtStatusFailed(status)) {
@@ -131,7 +159,7 @@ namespace nav {
     // prepare the query object
     dtFreeNavMeshQuery(_navQuery);
     _navQuery = dtAllocNavMeshQuery();
-    _navQuery->init(_navMesh, 2048);
+    _navQuery->init(_navMesh, MAX_QUERY_SEARCH_NODES);
 
     // create and init the crowd manager
     CreateCrowd();
@@ -309,6 +337,23 @@ namespace nav {
     return true;
   }
 
+  // set new max speed
+  bool Navigation::SetWalkerMaxSpeed(ActorId id, float max_speed) {
+    // get the internal index
+    auto it = _mappedId.find(id);
+    if (it == _mappedId.end())
+      return false;
+
+    // get the agent
+    dtCrowdAgent *agent = _crowd->getEditableAgent(it->second);
+    if (agent) {
+      agent->params.maxSpeed = max_speed;
+      return true;
+    }
+
+    return false;
+  }
+
   // set a new target point to go
   bool Navigation::SetWalkerTarget(ActorId id, carla::geom::Location to) {
     // get the internal index
@@ -459,6 +504,8 @@ namespace nav {
         location.z = point[1];
         if (maxHeight == -1.0f || (maxHeight >= 0.0f && location.z <= maxHeight))
           break;
+      } else {
+        throw_exception(std::runtime_error("no valid random point from navigation could be found, check filter or mesh."));
       }
     }
     while (1);

LibCarla/source/carla/nav/Navigation.h

@@ -21,37 +21,10 @@
 namespace carla {
 namespace nav {
 
-  enum SamplePolyAreas {
-    SAMPLE_POLYAREA_GROUND,
-    SAMPLE_POLYAREA_WATER,
-    SAMPLE_POLYAREA_ROAD,
-    SAMPLE_POLYAREA_DOOR,
-    SAMPLE_POLYAREA_GRASS,
-    SAMPLE_POLYAREA_JUMP,
-  };
-
-  enum SamplePolyFlags {
-    SAMPLE_POLYFLAGS_WALK		    = 0x01,		// Ability to walk (ground, grass, road)
-    SAMPLE_POLYFLAGS_SWIM		    = 0x02,		// Ability to swim (water).
-    SAMPLE_POLYFLAGS_DOOR		    = 0x04,		// Ability to move through doors.
-    SAMPLE_POLYFLAGS_JUMP		    = 0x08,		// Ability to jump.
-    SAMPLE_POLYFLAGS_DISABLED	  = 0x10,		// Disabled polygon
-    SAMPLE_POLYFLAGS_ALL		    = 0xffff	// All abilities.
-  };
-
-  enum UpdateFlags
-  {
-    DT_CROWD_ANTICIPATE_TURNS = 1,
-    DT_CROWD_OBSTACLE_AVOIDANCE = 2,
-    DT_CROWD_SEPARATION = 4,
-    DT_CROWD_OPTIMIZE_VIS = 8,			///< Use #dtPathCorridor::optimizePathVisibility() to optimize the agent path.
-    DT_CROWD_OPTIMIZE_TOPO = 16,		///< Use dtPathCorridor::optimizePathTopology() to optimize the agent path.
-  };
-
   class Navigation {
 
     public:
-    Navigation();
+    Navigation() = default;
     ~Navigation();
 
     // load navigation data
@@ -65,6 +38,8 @@ namespace nav {
     void CreateCrowd(void);
     // create a new walker
     bool AddWalker(ActorId id, carla::geom::Location from, float base_offset);
+    // set new max speed
+    bool SetWalkerMaxSpeed(ActorId id, float max_speed);
     // set a new target point to go
     bool SetWalkerTarget(ActorId id, carla::geom::Location to);
     bool SetWalkerTargetIndex(int index, carla::geom::Location to);

PythonAPI/examples/spawn_npc.py

@@ -178,6 +178,7 @@ def main():
                 # walk to random point
                 target = world.get_random_location_from_navigation()
                 all_actors[i].go_to_location(target)
+                all_actors[i].set_max_speed(1.3 + random.random() * 0.5)
 
         print('spawned %d walkers, press Ctrl+C to exit.' % len(info))