Add example.py

PythonAPI/example.py

@@ -0,0 +1,114 @@
+#!/usr/bin/env python
+
+import sys
+
+sys.path.append(
+    'PythonAPI/carla-0.9.0-py%d.%d-linux-x86_64.egg' % (sys.version_info.major,
+                                                        sys.version_info.minor))
+
+import carla
+
+import os
+import random
+import time
+
+# This function is here because this functionality haven't been ported to the
+# new API yet.
+def save_to_disk(image):
+    """Save this image to disk (requires PIL installed)."""
+
+    filename = '_images/{:0>6d}_{:s}.png'.format(image.frame_number, image.type)
+
+    try:
+        from PIL import Image as PImage
+    except ImportError:
+        raise RuntimeError(
+            'cannot import PIL, make sure pillow package is installed')
+
+    image = PImage.frombytes(
+        mode='RGBA',
+        size=(image.width, image.height),
+        data=image.raw_data,
+        decoder_name='raw')
+    color = image.split()
+    image = PImage.merge("RGB", color[2::-1])
+
+    folder = os.path.dirname(filename)
+    if not os.path.isdir(folder):
+        os.makedirs(folder)
+    image.save(filename)
+
+
+def main(add_a_camera, enable_autopilot):
+    client = carla.Client('localhost', 2020)
+    client.set_timeout(2000)
+
+    print('client version: %s' % client.get_client_version())
+    print('server version: %s' % client.get_server_version())
+
+    world = client.get_world()
+
+    blueprint_library = world.get_blueprint_library();
+
+    vehicle_blueprints = blueprint_library.filter('vehicle');
+
+
+    actor_list = []
+
+    try:
+
+        while True:
+
+            bp = random.choice(vehicle_blueprints)
+
+            if bp.contains_attribute('number_of_wheels'):
+                n = bp.get_attribute('number_of_wheels')
+                print('spawning vehicle %r with %d wheels' % (bp.id, n))
+
+            color = random.choice(bp.get_attribute('color').recommended_values)
+            bp.set_attribute('color', color)
+
+            transform = carla.Transform(
+                carla.Location(x=180.0, y=199.0, z=40.0),
+                carla.Rotation(yaw=0.0))
+
+            vehicle = world.try_spawn_actor(bp, transform)
+
+            if vehicle is None:
+                continue
+
+            actor_list.append(vehicle)
+
+            print(vehicle)
+
+            if add_a_camera:
+                add_a_camera = False
+
+                camera_bp = blueprint_library.find('camera')
+                # camera_bp.set_attribute('post_processing', 'Depth')
+                camera_transform = carla.Transform(carla.Location(x=0.4, y=0.0, z=1.4))
+                camera = world.spawn_actor(camera_bp, camera_transform, attach_to=vehicle)
+                camera.listen(save_to_disk)
+
+            if enable_autopilot:
+                vehicle.set_autopilot()
+            else:
+                vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=-1.0))
+
+            time.sleep(3)
+
+            print('vehicle at %s' % vehicle.get_location())
+            vehicle.set_location(carla.Location(x=220, y=199, z=38))
+            print('is now at %s' % vehicle.get_location())
+
+            time.sleep(2)
+
+    finally:
+
+        for actor in actor_list:
+            actor.destroy()
+
+
+if __name__ == '__main__':
+
+    main(add_a_camera=False, enable_autopilot=True)

Util/BuildTools/Package.sh

@@ -96,9 +96,10 @@ if $DO_COPY_FILES ; then
   copy_if_changed "./LICENSE" "${DESTINATION}/LICENSE"
   copy_if_changed "./CHANGELOG.md" "${DESTINATION}/CHANGELOG"
   copy_if_changed "./Docs/release_readme.md" "${DESTINATION}/README"
-  copy_if_changed "./Docs/Example.CarlaSettings.ini" "${DESTINATION}/Example.CarlaSettings.ini"
+  # copy_if_changed "./Docs/Example.CarlaSettings.ini" "${DESTINATION}/Example.CarlaSettings.ini"
   copy_if_changed "./Util/Docker/Release.Dockerfile" "${DESTINATION}/Dockerfile"
-  copy_if_changed "./PythonAPI/dist/*.egg" "${DESTINATION}/PythonAPI"
+  copy_if_changed "./PythonAPI/dist/*.egg" "${DESTINATION}/PythonAPI/"
+  copy_if_changed "./PythonAPI/example.py" "${DESTINATION}/example.py"
 
   popd >/dev/null