Change Python examples to use the recommended spawn points

PythonAPI/manual_control.py

@@ -108,9 +108,6 @@ except ImportError:
 # ==============================================================================
 
 
-START_POSITION = carla.Transform(carla.Location(x=180.0, y=199.0, z=40.0))
-
-
 def find_weather_presets():
     rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)')
     name = lambda x: ' '.join(m.group(0) for m in rgx.finditer(x))
@@ -123,7 +120,9 @@ class World(object):
         self.world = carla_world
         self.hud = hud
         blueprint = self._get_random_blueprint()
-        self.vehicle = self.world.spawn_actor(blueprint, START_POSITION)
+        spawn_points = self.world.get_map().get_spawn_points()
+        spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
+        self.vehicle = self.world.spawn_actor(blueprint, spawn_point)
         self.collision_sensor = CollisionSensor(self.vehicle, self.hud)
         self.camera_manager = CameraManager(self.vehicle, self.hud)
         self.camera_manager.set_sensor(0, notify=False)

PythonAPI/tutorial.py

@@ -50,11 +50,9 @@ def main():
         color = random.choice(bp.get_attribute('color').recommended_values)
         bp.set_attribute('color', color)
 
-        # Now we need to give an initial transform to the vehicle. This is a
-        # nice spot in Town01.
-        transform = carla.Transform(
-            carla.Location(x=140.0, y=199.0, z=40.0),
-            carla.Rotation(yaw=0.0))
+        # Now we need to give an initial transform to the vehicle. We choose a
+        # random transform from the list of recommended spawn points of the map.
+        transform = random.choice(world.get_map().get_spawn_points())
 
         # So let's tell the world to spawn the vehicle.
         vehicle = world.spawn_actor(bp, transform)

PythonAPI/vehicle_gallery.py

@@ -15,34 +15,38 @@ except IndexError:
 import carla
 
 import math
+import random
 import time
 
-# Nice spot in Town01.
-LOCATION = carla.Location(x=155.5, y=55.8, z=39)
 
-
-def get_transform(angle, d=6.5):
+def get_transform(vehicle_location, angle, d=6.4):
     a = math.radians(angle)
-    location = carla.Location(d * math.cos(a), d * math.sin(a), 2.0) + LOCATION
-    return carla.Transform(location, carla.Rotation(yaw=180 + angle, pitch=-15))
+    location = carla.Location(d * math.cos(a), d * math.sin(a), 2.0) + vehicle_location
+    return carla.Transform(location, carla.Rotation(yaw=180 + angle, pitch=-20))
 
 
 def main():
     client = carla.Client('localhost', 2000)
+    client.set_timeout(2.0)
     world = client.get_world()
     spectator = world.get_spectator()
     vehicle_blueprints = world.get_blueprint_library().filter('vehicle')
 
+    location = random.choice(world.get_map().get_spawn_points()).location
+
     for blueprint in vehicle_blueprints:
-        transform = carla.Transform(LOCATION, carla.Rotation(yaw=-45.0))
+        transform = carla.Transform(location, carla.Rotation(yaw=-45.0))
         vehicle = world.spawn_actor(blueprint, transform)
 
         try:
 
             print(vehicle.type_id)
-            for x in range(2, 360, 2):
-                spectator.set_transform(get_transform(x - 90))
-                time.sleep(0.02)
+
+            angle = 0
+            while angle < 356:
+                timestamp = world.wait_for_tick()
+                angle += timestamp.delta_seconds * 60.0
+                spectator.set_transform(get_transform(location, angle - 90))
 
         finally: