Commenting and renaming some variables to 'spawn_npc' script
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bernatx
Néstor Subirón
parent
c05ed8a0f2
commit
8ce3daadbe
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@ -72,7 +72,7 @@ def main():
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logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
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actor_list = []
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vehicles_list = []
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client = carla.Client(args.host, args.port)
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client.set_timeout(2.0)
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@ -101,7 +101,9 @@ def main():
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SetAutopilot = carla.command.SetAutopilot
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FutureActor = carla.command.FutureActor
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# --------------
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# Spawn vehicles
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# --------------
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batch = []
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for n, transform in enumerate(spawn_points):
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if n >= args.number_of_vehicles:
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@ -120,77 +122,79 @@ def main():
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if response.error:
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logging.error(response.error)
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else:
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actor_list.append(response.actor_id)
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print('spawned %d vehicles, press Ctrl+C to exit.' % len(actor_list))
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vehicles_list.append(response.actor_id)
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# -------------
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# Spawn Walkers
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# -------------
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# 1. take all the random locations to spawn
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spawn_points = []
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location_error = carla.Location(0, 0, 0)
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for i in range(args.number_of_walkers):
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spawn_point = carla.Transform()
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spawn_point.location = world.get_random_location_from_navigation()
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spawn_points.append(spawn_point)
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# if the returned location is at (0,0,0) we can consider a problem
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if (spawn_point.location != location_error):
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spawn_points.append(spawn_point)
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batch = []
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info = []
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walkers_list = []
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# 2. we spawn the walker object
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for spawn_point in spawn_points:
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walker_bp = random.choice(world.get_blueprint_library().filter('walker.pedestrian.*'))
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# set as not invencible
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if walker_bp.has_attribute('is_invincible'):
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walker_bp.set_attribute('is_invincible', 'false')
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batch.append(SpawnActor(walker_bp, spawn_point))
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# apply
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results = client.apply_batch_sync(batch, True)
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for i in range(len(results)):
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if results[i].error:
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logging.error(results[i].error)
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else:
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info.append({"id": results[i].actor_id, "trans": spawn_points[i], "con": None})
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# Spawn walker controller
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walkers_list.append({"id": results[i].actor_id, "trans": spawn_points[i], "con": None})
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# 3. we spawn the walker controller
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batch = []
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walker_controller_bp = world.get_blueprint_library().find('controller.ai.walker')
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for i in range(len(info)):
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batch.append(SpawnActor(walker_controller_bp, carla.Transform(), info[i]["id"]))
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# apply
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for i in range(len(walkers_list)):
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batch.append(SpawnActor(walker_controller_bp, carla.Transform(), walkers_list[i]["id"]))
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results = client.apply_batch_sync(batch, True)
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for i in range(len(results)):
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if results[i].error:
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logging.error(results[i].error)
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else:
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info[i]["con"] = results[i].actor_id
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# get whole list of actors (child and parents in same list so world.get_actors() can find parents also)
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walkers_list[i]["con"] = results[i].actor_id
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# 4. we put altogether the walkers and controllers id to get the objects from their id
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all_id = []
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for i in range(len(info)):
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all_id.append(info[i]["con"])
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all_id.append(info[i]["id"])
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for i in range(len(walkers_list)):
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all_id.append(walkers_list[i]["con"])
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all_id.append(walkers_list[i]["id"])
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all_actors = world.get_actors(all_id)
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# initialize each controller and set target to walk to (list is [controler, actor, controller, actor ...])
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# 5. initialize each controller and set target to walk to (list is [controler, actor, controller, actor ...])
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for i in range(0, len(all_id), 2):
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# index in the info list
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# index in the walkers_list
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index = int(i / 2)
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all_actors[i].start(info[index]["trans"].location)
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# walk to random point
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# set start position of walker
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all_actors[i].start(walkers_list[index]["trans"].location)
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# set walk to random point
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target = world.get_random_location_from_navigation()
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all_actors[i].go_to_location(target)
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all_actors[i].set_max_speed(1 + random.random()) # max speed between 1 and 2
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# random max speed
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all_actors[i].set_max_speed(1 + random.random()) # max speed between 1 and 2 (default is 1.4 m/s)
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print('spawned %d walkers, press Ctrl+C to exit.' % len(info))
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print('spawned %d vehicles and %d walkers, press Ctrl+C to exit.' % (len(vehicles_list), len(walkers_list)))
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while True:
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world.wait_for_tick()
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finally:
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print('\ndestroying %d vehicles' % len(actor_list))
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client.apply_batch([carla.command.DestroyActor(x) for x in actor_list])
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print('\ndestroying %d vehicles' % len(vehicles_list))
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client.apply_batch([carla.command.DestroyActor(x) for x in vehicles_list])
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# stop walker controllers (list is [controler, actor, controller, actor ...])
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for i in range(0, len(all_id), 2):
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all_actors[i].stop()
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print('\ndestroying %d walkers' % len(info))
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print('\ndestroying %d walkers' % len(walkers_list))
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client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
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