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Taking account of the very last waypoint buffer (#2407) 

* Taking account for the very last waypoint buffer

* Update CHANGELOG.md

* Removing unused variables (Travis)

* Update CHANGELOG.md

Co-authored-by: Praveen Kumar <35625166+pravinblaze@users.noreply.github.com>
Co-authored-by: bernat <bernatx@gmail.com>
Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
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germanros1987 2020-03-05 08:10:17 -08:00 committed by GitHub
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commit 9c70de31b1
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2 changed files with 4 additions and 4 deletions
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1
CHANGELOG.md
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@ -27,6 +27,7 @@
* New python clients: * New python clients:
- `weather.py`: allows weather changes using the new weather parameters - `weather.py`: allows weather changes using the new weather parameters
* Fixed docker build of .BIN for pedestrian navigation * Fixed docker build of .BIN for pedestrian navigation
* Fixed local_planner.py: agent will now stop when it reaches the desired destination
* Fixed crash when missing elevation profile and lane offset in OpenDRIVE * Fixed crash when missing elevation profile and lane offset in OpenDRIVE
* Fixed typos * Fixed typos
* Fixed agent failures due to API changes in is_within_distance_ahead() * Fixed agent failures due to API changes in is_within_distance_ahead()

7
PythonAPI/carla/agents/navigation/local_planner.py
View File

@ -14,7 +14,7 @@ import random
import carla import carla
from agents.navigation.controller import VehiclePIDController from agents.navigation.controller import VehiclePIDController
from agents.tools.misc import distance_vehicle, draw_waypoints from agents.tools.misc import draw_waypoints
class RoadOption(Enum): class RoadOption(Enum):
@ -199,7 +199,7 @@ class LocalPlanner(object):
if not self._global_plan and len(self._waypoints_queue) < int(self._waypoints_queue.maxlen * 0.5): if not self._global_plan and len(self._waypoints_queue) < int(self._waypoints_queue.maxlen * 0.5):
self._compute_next_waypoints(k=100) self._compute_next_waypoints(k=100)
if len(self._waypoints_queue) == 0: if len(self._waypoints_queue) == 0 and len(self._waypoint_buffer) == 0:
control = carla.VehicleControl() control = carla.VehicleControl()
control.steer = 0.0 control.steer = 0.0
control.throttle = 0.0 control.throttle = 0.0
@ -242,8 +242,7 @@ class LocalPlanner(object):
return control return control
def done(self): def done(self):
vehicle_transform = self._vehicle.get_transform() return len(self._waypoints_queue) == 0 and len(self._waypoint_buffer) == 0
return len(self._waypoints_queue) == 0 and all([distance_vehicle(wp, vehicle_transform) < self._min_distance for wp in self._waypoints_queue])
def _retrieve_options(list_waypoints, current_waypoint): def _retrieve_options(list_waypoints, current_waypoint):
""" """