-Snippet for carla.World.unload_map_layer +Snippet for carla.ActorBlueprint.set_attribute
-
-
-```py
-
-# This recipe toggles off several layers in our "_Opt" maps
-
-# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
-# as well as buildings and parked vehicles
-world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
-
-# Toggle all buildings off
-world.unload_map_layer(carla.MapLayer.Buildings)
-
-# Toggle all parked vehicles off
-world.unload_map_layer(carla.MapLayer.ParkedVehicles)
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.Map.get_waypoint -
-
+
```py
-# This recipe shows the current traffic rules affecting the vehicle.
-# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
+# This recipe changes attributes of different type of blueprint actors.
# ...
-waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
-print("Current lane type: " + str(waypoint.lane_type))
-# Check current lane change allowed
-print("Current Lane change: " + str(waypoint.lane_change))
-# Left and Right lane markings
-print("L lane marking type: " + str(waypoint.left_lane_marking.type))
-print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
-print("R lane marking type: " + str(waypoint.right_lane_marking.type))
-print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
+walker_bp = world.get_blueprint_library().filter('walker.pedestrian.0002')
+walker_bp.set_attribute('is_invincible', True)
+
+# ...
+# Changes attribute randomly by the recommended value
+vehicle_bp = wolrd.get_blueprint_library().filter('vehicle.bmw.*')
+color = random.choice(vehicle_bp.get_attribute('color').recommended_values)
+vehicle_bp.set_attribute('color', color)
+
+# ...
+
+camera_bp = world.get_blueprint_library().filter('sensor.camera.rgb')
+camera_bp.set_attribute('image_size_x', 600)
+camera_bp.set_attribute('image_size_y', 600)
# ...
```
-
- - -
-
-
-
-- - -
-
-
-
-Snippet for carla.World.get_spectator -
-
-
-```py
-
-
-# This recipe spawns an actor and the spectator camera at the actor's location.
-
-# ...
-world = client.get_world()
-spectator = world.get_spectator()
-
-vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
-transform = random.choice(world.get_map().get_spawn_points())
-vehicle = world.try_spawn_actor(vehicle_bp, transform)
-
-# Wait for world to get the vehicle actor
-world.tick()
-
-world_snapshot = world.wait_for_tick()
-actor_snapshot = world_snapshot.find(vehicle.id)
-
-# Set spectator at given transform (vehicle transform)
-spectator.set_transform(actor_snapshot.get_transform())
-# ...
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.WalkerAIController.stop -
-
-
-```py
-
-
-#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
-
-# stop pedestrians (list is [controller, actor, controller, actor ...])
-for i in range(0, len(all_id), 2):
- all_actors[i].stop()
-
-# destroy pedestrian (actor and controller)
-client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
-
-
-```
-
- -
-
-- -
-
--Snippet for carla.World.spawn_actor -
-
-
-```py
-
-
-# This recipe attaches different camera / sensors to a vehicle with different attachments.
-
-# ...
-camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
-# Default attachment: Attachment.Rigid
-gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
-collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
-lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
-# ...
-
-
-```
-
+
@@ -3594,112 +3500,27 @@ for i in range(0, len(all_actors), 2):
+
+
-Snippet for carla.ActorBlueprint.set_attribute +Snippet for carla.WalkerAIController.stop
-
+
```py
-# This recipe changes attributes of different type of blueprint actors.
+#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
-# ...
-walker_bp = world.get_blueprint_library().filter('walker.pedestrian.0002')
-walker_bp.set_attribute('is_invincible', True)
+# stop pedestrians (list is [controller, actor, controller, actor ...])
+for i in range(0, len(all_id), 2):
+ all_actors[i].stop()
-# ...
-# Changes attribute randomly by the recommended value
-vehicle_bp = wolrd.get_blueprint_library().filter('vehicle.bmw.*')
-color = random.choice(vehicle_bp.get_attribute('color').recommended_values)
-vehicle_bp.set_attribute('color', color)
-
-# ...
-
-camera_bp = world.get_blueprint_library().filter('sensor.camera.rgb')
-camera_bp.set_attribute('image_size_x', 600)
-camera_bp.set_attribute('image_size_y', 600)
-# ...
+# destroy pedestrian (actor and controller)
+client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
```
-
- -
-
-- -
-
-Snippet for carla.DebugHelper.draw_box -
-
-
-```py
-
-
-# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
-
-# ....
-debug = world.debug
-world_snapshot = world.get_snapshot()
-
-for actor_snapshot in world_snapshot:
- actual_actor = world.get_actor(actor_snapshot.id)
- if actual_actor.type_id == 'traffic.traffic_light':
- debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
-# ...
-
-
-
-```
-
- - -
-
-
-
-- - -
-
-
-
-Snippet for carla.Sensor.listen -
-
-
-```py
-
-
-# This recipe applies a color conversion to the image taken by a camera sensor,
-# so it is converted to a semantic segmentation image.
-
-# ...
-camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
-# ...
-cc = carla.ColorConverter.CityScapesPalette
-camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
-# ...
-
-
-```
-
- -
-
-- -
-
--Snippet for carla.Vehicle.set_wheel_steer_direction -
-
-
-```py
-
-# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
-
-vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
-vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
-
-
-```
-
+
@@ -3742,78 +3563,36 @@ while True:
+
+
-Snippet for carla.World.enable_environment_objects +Snippet for carla.Map.get_waypoint
-
-
-```py
-
-# This recipe turn visibility off and on for two specifc buildings on the map
-
-# Get the buildings in the world
-world = client.get_world()
-env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
-
-# Access individual building IDs and save in a set
-building_01 = env_objs[0]
-building_02 = env_objs[1]
-objects_to_toggle = {building_01.id, building_02.id}
-
-# Toggle buildings off
-world.enable_environment_objects(objects_to_toggle, False)
-# Toggle buildings on
-world.enable_environment_objects(objects_to_toggle, True)
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.Client.__init__ -
-
+
+
+
```py
-# This recipe shows in every script provided in PythonAPI/Examples
-# and it is used to parse the client creation arguments when running the script.
-
- argparser = argparse.ArgumentParser(
- description=__doc__)
- argparser.add_argument(
- '--host',
- metavar='H',
- default='127.0.0.1',
- help='IP of the host server (default: 127.0.0.1)')
- argparser.add_argument(
- '-p', '--port',
- metavar='P',
- default=2000,
- type=int,
- help='TCP port to listen to (default: 2000)')
- argparser.add_argument(
- '-s', '--speed',
- metavar='FACTOR',
- default=1.0,
- type=float,
- help='rate at which the weather changes (default: 1.0)')
- args = argparser.parse_args()
-
- speed_factor = args.speed
- update_freq = 0.1 / speed_factor
-
- client = carla.Client(args.host, args.port)
+# This recipe shows the current traffic rules affecting the vehicle.
+# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
+# ...
+waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
+print("Current lane type: " + str(waypoint.lane_type))
+# Check current lane change allowed
+print("Current Lane change: " + str(waypoint.lane_change))
+# Left and Right lane markings
+print("L lane marking type: " + str(waypoint.left_lane_marking.type))
+print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
+print("R lane marking type: " + str(waypoint.right_lane_marking.type))
+print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
+# ...
```
-
+
+ + +
@@ -3862,6 +3641,243 @@ if vehicle_actor.is_at_traffic_light():
+
+ + +
+
+Snippet for carla.Vehicle.set_wheel_steer_direction +
+
+
+```py
+
+# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
+
+vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
+vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
+
+
+```
+
+ +
+
++ +
+
+
+Snippet for carla.World.unload_map_layer +
+
+
+```py
+
+# This recipe toggles off several layers in our "_Opt" maps
+
+# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
+# as well as buildings and parked vehicles
+world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
+
+# Toggle all buildings off
+world.unload_map_layer(carla.MapLayer.Buildings)
+
+# Toggle all parked vehicles off
+world.unload_map_layer(carla.MapLayer.ParkedVehicles)
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.DebugHelper.draw_box +
+
+
+```py
+
+
+# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
+
+# ....
+debug = world.debug
+world_snapshot = world.get_snapshot()
+
+for actor_snapshot in world_snapshot:
+ actual_actor = world.get_actor(actor_snapshot.id)
+ if actual_actor.type_id == 'traffic.traffic_light':
+ debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
+# ...
+
+
+
+```
+
+ + +
+
+
+
++ + +
+
+
+
+Snippet for carla.Client.__init__ +
+
+
+```py
+
+
+# This recipe shows in every script provided in PythonAPI/Examples
+# and it is used to parse the client creation arguments when running the script.
+
+ argparser = argparse.ArgumentParser(
+ description=__doc__)
+ argparser.add_argument(
+ '--host',
+ metavar='H',
+ default='127.0.0.1',
+ help='IP of the host server (default: 127.0.0.1)')
+ argparser.add_argument(
+ '-p', '--port',
+ metavar='P',
+ default=2000,
+ type=int,
+ help='TCP port to listen to (default: 2000)')
+ argparser.add_argument(
+ '-s', '--speed',
+ metavar='FACTOR',
+ default=1.0,
+ type=float,
+ help='rate at which the weather changes (default: 1.0)')
+ args = argparser.parse_args()
+
+ speed_factor = args.speed
+ update_freq = 0.1 / speed_factor
+
+ client = carla.Client(args.host, args.port)
+
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.Sensor.listen +
+
+
+```py
+
+
+# This recipe applies a color conversion to the image taken by a camera sensor,
+# so it is converted to a semantic segmentation image.
+
+# ...
+camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
+# ...
+cc = carla.ColorConverter.CityScapesPalette
+camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
+# ...
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.World.enable_environment_objects +
+
+
+```py
+
+# This recipe turn visibility off and on for two specifc buildings on the map
+
+# Get the buildings in the world
+world = client.get_world()
+env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
+
+# Access individual building IDs and save in a set
+building_01 = env_objs[0]
+building_02 = env_objs[1]
+objects_to_toggle = {building_01.id, building_02.id}
+
+# Toggle buildings off
+world.enable_environment_objects(objects_to_toggle, False)
+# Toggle buildings on
+world.enable_environment_objects(objects_to_toggle, True)
+
+
+```
+
+ +
+
++ +
+.
+
+# Allows controlling a vehicle with a keyboard. For a simpler and more
+# documented example, please take a look at tutorial.py.
+
+"""
+Welcome to CARLA manual control.
+
+Use ARROWS or WASD keys for control.
+
+ W : throttle
+ S : brake
+ A/D : steer left/right
+ Q : toggle reverse
+ Space : hand-brake
+ P : toggle autopilot
+ M : toggle manual transmission
+ ,/. : gear up/down
+ CTRL + W : toggle constant velocity mode at 60 km/h
+
+ L : toggle next light type
+ SHIFT + L : toggle high beam
+ Z/X : toggle right/left blinker
+ I : toggle interior light
+
+ TAB : change sensor position
+ ` or N : next sensor
+ [1-9] : change to sensor [1-9]
+ G : toggle radar visualization
+ C : change weather (Shift+C reverse)
+ Backspace : change vehicle
+
+ V : Select next map layer (Shift+V reverse)
+ B : Load current selected map layer (Shift+B to unload)
+
+ R : toggle recording images to disk
+
+ CTRL + R : toggle recording of simulation (replacing any previous)
+ CTRL + P : start replaying last recorded simulation
+ CTRL + + : increments the start time of the replay by 1 second (+SHIFT = 10 seconds)
+ CTRL + - : decrements the start time of the replay by 1 second (+SHIFT = 10 seconds)
+
+ F1 : toggle HUD
+ H/? : toggle help
+ ESC : quit
+"""
+
+from __future__ import print_function
+
+
+# ==============================================================================
+# -- find carla module ---------------------------------------------------------
+# ==============================================================================
+
+
+import glob
+import os
+import sys
+
+try:
+ # sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
+ print(os.path.abspath(__file__))
+ print(os.path.dirname(os.path.abspath(__file__)))
+ sys.path.append(glob.glob(os.path.dirname(os.path.dirname(os.path.abspath(__file__))) + '/carla/dist/carla-*%d.%d-%s.egg' % (
+ # sys.path.append(glob.glob(os.path.dirname(os.path.abspath(__file__)) + '/dist/carla-*%d.%d-%s.egg' % (
+ # sys.path.append(glob.glob(os.path.dirname(os.path.abspath(__file__)) + '/../carla/dist/carla-*%d.%d-%s.egg' % (
+ sys.version_info.major,
+ sys.version_info.minor,
+ 'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
+except IndexError:
+ pass
+
+
+# ==============================================================================
+# -- imports -------------------------------------------------------------------
+# ==============================================================================
+
+
+import carla
+
+from carla import ColorConverter as cc
+
+import argparse
+import collections
+import datetime
+import logging
+import math
+import random
+import re
+import weakref
+
+try:
+ import pygame
+ from pygame.locals import KMOD_CTRL
+ from pygame.locals import KMOD_SHIFT
+ from pygame.locals import K_0
+ from pygame.locals import K_9
+ from pygame.locals import K_BACKQUOTE
+ from pygame.locals import K_BACKSPACE
+ from pygame.locals import K_COMMA
+ from pygame.locals import K_DOWN
+ from pygame.locals import K_ESCAPE
+ from pygame.locals import K_F1
+ from pygame.locals import K_LEFT
+ from pygame.locals import K_PERIOD
+ from pygame.locals import K_RIGHT
+ from pygame.locals import K_SLASH
+ from pygame.locals import K_SPACE
+ from pygame.locals import K_TAB
+ from pygame.locals import K_UP
+ from pygame.locals import K_a
+ from pygame.locals import K_b
+ from pygame.locals import K_c
+ from pygame.locals import K_d
+ from pygame.locals import K_g
+ from pygame.locals import K_h
+ from pygame.locals import K_i
+ from pygame.locals import K_l
+ from pygame.locals import K_m
+ from pygame.locals import K_n
+ from pygame.locals import K_p
+ from pygame.locals import K_k
+ from pygame.locals import K_o
+ from pygame.locals import K_j
+ from pygame.locals import K_q
+ from pygame.locals import K_r
+ from pygame.locals import K_s
+ from pygame.locals import K_v
+ from pygame.locals import K_w
+ from pygame.locals import K_x
+ from pygame.locals import K_z
+ from pygame.locals import K_MINUS
+ from pygame.locals import K_EQUALS
+except ImportError:
+ raise RuntimeError('cannot import pygame, make sure pygame package is installed')
+
+try:
+ import numpy as np
+except ImportError:
+ raise RuntimeError('cannot import numpy, make sure numpy package is installed')
+
+
+# ==============================================================================
+# -- Global functions ----------------------------------------------------------
+# ==============================================================================
+
+
+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))
+ presets = [x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)]
+ return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets]
+
+
+def get_actor_display_name(actor, truncate=250):
+ name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
+ return (name[:truncate - 1] + u'\u2026') if len(name) > truncate else name
+
+
+# ==============================================================================
+# -- World ---------------------------------------------------------------------
+# ==============================================================================
+
+
+class World(object):
+ def __init__(self, carla_world, hud, args):
+ self.world = carla_world
+ self.actor_role_name = args.rolename
+ try:
+ self.map = self.world.get_map()
+ except RuntimeError as error:
+ print('RuntimeError: {}'.format(error))
+ print(' The server could not send the OpenDRIVE (.xodr) file:')
+ print(' Make sure it exists, has the same name of your town, and is correct.')
+ sys.exit(1)
+ self.hud = hud
+ self.player = None
+ self.collision_sensor = None
+ self.lane_invasion_sensor = None
+ self.gnss_sensor = None
+ self.imu_sensor = None
+ self.radar_sensor = None
+ self.camera_manager = None
+ self._weather_presets = find_weather_presets()
+ self._weather_index = 0
+ self._actor_filter = args.filter
+ self._gamma = args.gamma
+ self.restart()
+ self.world.on_tick(hud.on_world_tick)
+ self.recording_enabled = False
+ self.recording_start = 0
+ self.constant_velocity_enabled = False
+ self.current_map_layer = 0
+ self.map_layer_names = [
+ carla.MapLayer.NONE,
+ carla.MapLayer.Buildings,
+ carla.MapLayer.Decals,
+ carla.MapLayer.Foliage,
+ carla.MapLayer.Ground,
+ carla.MapLayer.ParkedVehicles,
+ carla.MapLayer.Particles,
+ carla.MapLayer.Props,
+ carla.MapLayer.StreetLights,
+ carla.MapLayer.Walls,
+ carla.MapLayer.All
+ ]
+
+ def restart(self):
+ self.player_max_speed = 1.589
+ self.player_max_speed_fast = 3.713
+ # Keep same camera config if the camera manager exists.
+ cam_index = self.camera_manager.index if self.camera_manager is not None else 0
+ cam_pos_index = self.camera_manager.transform_index if self.camera_manager is not None else 0
+ # Get a random blueprint.
+ blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter))
+ blueprint.set_attribute('role_name', self.actor_role_name)
+ if blueprint.has_attribute('color'):
+ color = random.choice(blueprint.get_attribute('color').recommended_values)
+ blueprint.set_attribute('color', color)
+ if blueprint.has_attribute('driver_id'):
+ driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
+ blueprint.set_attribute('driver_id', driver_id)
+ if blueprint.has_attribute('is_invincible'):
+ blueprint.set_attribute('is_invincible', 'true')
+ # set the max speed
+ if blueprint.has_attribute('speed'):
+ self.player_max_speed = float(blueprint.get_attribute('speed').recommended_values[1])
+ self.player_max_speed_fast = float(blueprint.get_attribute('speed').recommended_values[2])
+ else:
+ print("No recommended values for 'speed' attribute")
+ # Spawn the player.
+ if self.player is not None:
+ spawn_point = self.player.get_transform()
+ spawn_point.location.z += 2.0
+ spawn_point.rotation.roll = 0.0
+ spawn_point.rotation.pitch = 0.0
+ self.destroy()
+ self.player = self.world.try_spawn_actor(blueprint, spawn_point)
+ while self.player is None:
+ if not self.map.get_spawn_points():
+ print('There are no spawn points available in your map/town.')
+ print('Please add some Vehicle Spawn Point to your UE4 scene.')
+ sys.exit(1)
+ spawn_points = self.map.get_spawn_points()
+ spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
+ self.player = self.world.try_spawn_actor(blueprint, spawn_point)
+ # Set up the sensors.
+ self.collision_sensor = CollisionSensor(self.player, self.hud)
+ self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud)
+ self.gnss_sensor = GnssSensor(self.player)
+ self.imu_sensor = IMUSensor(self.player)
+ self.camera_manager = CameraManager(self.player, self.hud, self._gamma)
+ self.camera_manager.transform_index = cam_pos_index
+ self.camera_manager.set_sensor(cam_index, notify=False)
+ actor_type = get_actor_display_name(self.player)
+ self.hud.notification(actor_type)
+
+ def next_weather(self, reverse=False):
+ self._weather_index += -1 if reverse else 1
+ self._weather_index %= len(self._weather_presets)
+ preset = self._weather_presets[self._weather_index]
+ self.hud.notification('Weather: %s' % preset[1])
+ self.player.get_world().set_weather(preset[0])
+
+ def next_map_layer(self, reverse=False):
+ self.current_map_layer += -1 if reverse else 1
+ self.current_map_layer %= len(self.map_layer_names)
+ selected = self.map_layer_names[self.current_map_layer]
+ self.hud.notification('LayerMap selected: %s' % selected)
+
+ def load_map_layer(self, unload=False):
+ selected = self.map_layer_names[self.current_map_layer]
+ if unload:
+ self.hud.notification('Unloading map layer: %s' % selected)
+ self.world.unload_map_layer(selected)
+ else:
+ self.hud.notification('Loading map layer: %s' % selected)
+ self.world.load_map_layer(selected)
+
+ def toggle_radar(self):
+ if self.radar_sensor is None:
+ self.radar_sensor = RadarSensor(self.player)
+ elif self.radar_sensor.sensor is not None:
+ self.radar_sensor.sensor.destroy()
+ self.radar_sensor = None
+
+ def tick(self, clock):
+ self.hud.tick(self, clock)
+
+ def render(self, display):
+ self.camera_manager.render(display)
+ self.hud.render(display)
+
+ def destroy_sensors(self):
+ self.camera_manager.sensor.destroy()
+ self.camera_manager.sensor = None
+ self.camera_manager.index = None
+
+ def destroy(self):
+ if self.radar_sensor is not None:
+ self.toggle_radar()
+ sensors = [
+ self.camera_manager.sensor,
+ self.collision_sensor.sensor,
+ self.lane_invasion_sensor.sensor,
+ self.gnss_sensor.sensor,
+ self.imu_sensor.sensor]
+ for sensor in sensors:
+ if sensor is not None:
+ sensor.stop()
+ sensor.destroy()
+ if self.player is not None:
+ self.player.destroy()
+
+
+# ==============================================================================
+# -- KeyboardControl -----------------------------------------------------------
+# ==============================================================================
+
+
+class KeyboardControl(object):
+ """Class that handles keyboard input."""
+ def __init__(self, world, start_in_autopilot):
+ self._carsim_enabled = False
+ self._carsim_road = False
+ self._autopilot_enabled = start_in_autopilot
+ if isinstance(world.player, carla.Vehicle):
+ self._control = carla.VehicleControl()
+ self._lights = carla.VehicleLightState.NONE
+ world.player.set_autopilot(self._autopilot_enabled)
+ world.player.set_light_state(self._lights)
+ elif isinstance(world.player, carla.Walker):
+ self._control = carla.WalkerControl()
+ self._autopilot_enabled = False
+ self._rotation = world.player.get_transform().rotation
+ else:
+ raise NotImplementedError("Actor type not supported")
+ self._steer_cache = 0.0
+ world.hud.notification("Press 'H' or '?' for help.", seconds=4.0)
+
+ def parse_events(self, client, world, clock):
+ if isinstance(self._control, carla.VehicleControl):
+ current_lights = self._lights
+ for event in pygame.event.get():
+ if event.type == pygame.QUIT:
+ return True
+ elif event.type == pygame.KEYUP:
+ if self._is_quit_shortcut(event.key):
+ return True
+ elif event.key == K_BACKSPACE:
+ if self._autopilot_enabled:
+ world.player.set_autopilot(False)
+ world.restart()
+ world.player.set_autopilot(True)
+ else:
+ world.restart()
+ elif event.key == K_F1:
+ world.hud.toggle_info()
+ elif event.key == K_v and pygame.key.get_mods() & KMOD_SHIFT:
+ world.next_map_layer(reverse=True)
+ elif event.key == K_v:
+ world.next_map_layer()
+ elif event.key == K_b and pygame.key.get_mods() & KMOD_SHIFT:
+ world.load_map_layer(unload=True)
+ elif event.key == K_b:
+ world.load_map_layer()
+ elif event.key == K_h or (event.key == K_SLASH and pygame.key.get_mods() & KMOD_SHIFT):
+ world.hud.help.toggle()
+ elif event.key == K_TAB:
+ world.camera_manager.toggle_camera()
+ elif event.key == K_c and pygame.key.get_mods() & KMOD_SHIFT:
+ world.next_weather(reverse=True)
+ elif event.key == K_c:
+ world.next_weather()
+ elif event.key == K_g:
+ world.toggle_radar()
+ elif event.key == K_BACKQUOTE:
+ world.camera_manager.next_sensor()
+ elif event.key == K_n:
+ world.camera_manager.next_sensor()
+ elif event.key == K_w and (pygame.key.get_mods() & KMOD_CTRL):
+ if world.constant_velocity_enabled:
+ world.player.disable_constant_velocity()
+ world.constant_velocity_enabled = False
+ world.hud.notification("Disabled Constant Velocity Mode")
+ else:
+ world.player.enable_constant_velocity(carla.Vector3D(17, 0, 0))
+ world.constant_velocity_enabled = True
+ world.hud.notification("Enabled Constant Velocity Mode at 60 km/h")
+ elif event.key > K_0 and event.key <= K_9:
+ world.camera_manager.set_sensor(event.key - 1 - K_0)
+ elif event.key == K_r and not (pygame.key.get_mods() & KMOD_CTRL):
+ world.camera_manager.toggle_recording()
+ elif event.key == K_r and (pygame.key.get_mods() & KMOD_CTRL):
+ if (world.recording_enabled):
+ client.stop_recorder()
+ world.recording_enabled = False
+ world.hud.notification("Recorder is OFF")
+ else:
+ client.start_recorder("manual_recording.rec")
+ world.recording_enabled = True
+ world.hud.notification("Recorder is ON")
+ elif event.key == K_p and (pygame.key.get_mods() & KMOD_CTRL):
+ # stop recorder
+ client.stop_recorder()
+ world.recording_enabled = False
+ # work around to fix camera at start of replaying
+ current_index = world.camera_manager.index
+ world.destroy_sensors()
+ # disable autopilot
+ self._autopilot_enabled = False
+ world.player.set_autopilot(self._autopilot_enabled)
+ world.hud.notification("Replaying file 'manual_recording.rec'")
+ # replayer
+ client.replay_file("manual_recording.rec", world.recording_start, 0, 0)
+ world.camera_manager.set_sensor(current_index)
+ elif event.key == K_k and (pygame.key.get_mods() & KMOD_CTRL):
+ print("k pressed")
+ world.player.enable_carsim()
+ elif event.key == K_o and (pygame.key.get_mods() & KMOD_CTRL):
+ print("o pressed")
+ vehicle_json = "sedan/vehicle/Sedan_Vehicle.json"
+ powertrain_json = "sedan/powertrain/Sedan_SimpleMapPowertrain.json"
+ tire_json = "sedan/tire/Sedan_TMeasyTire.json"
+ base_path = "~/carla/Build/chrono-install/share/chrono/data/vehicle/"
+ world.player.enable_chrono_physics(5000, 0.002, vehicle_json, powertrain_json, tire_json, base_path)
+ elif event.key == K_j and (pygame.key.get_mods() & KMOD_CTRL):
+ self._carsim_road = not self._carsim_road
+ world.player.use_carsim_road(self._carsim_road)
+ print("j pressed, using carsim road =", self._carsim_road)
+ # elif event.key == K_i and (pygame.key.get_mods() & KMOD_CTRL):
+ # print("i pressed")
+ # imp = carla.Location(z=50000)
+ # world.player.add_impulse(imp)
+ elif event.key == K_MINUS and (pygame.key.get_mods() & KMOD_CTRL):
+ if pygame.key.get_mods() & KMOD_SHIFT:
+ world.recording_start -= 10
+ else:
+ world.recording_start -= 1
+ world.hud.notification("Recording start time is %d" % (world.recording_start))
+ elif event.key == K_EQUALS and (pygame.key.get_mods() & KMOD_CTRL):
+ if pygame.key.get_mods() & KMOD_SHIFT:
+ world.recording_start += 10
+ else:
+ world.recording_start += 1
+ world.hud.notification("Recording start time is %d" % (world.recording_start))
+ if isinstance(self._control, carla.VehicleControl):
+ if event.key == K_q:
+ self._control.gear = 1 if self._control.reverse else -1
+ elif event.key == K_m:
+ self._control.manual_gear_shift = not self._control.manual_gear_shift
+ self._control.gear = world.player.get_control().gear
+ world.hud.notification('%s Transmission' %
+ ('Manual' if self._control.manual_gear_shift else 'Automatic'))
+ elif self._control.manual_gear_shift and event.key == K_COMMA:
+ self._control.gear = max(-1, self._control.gear - 1)
+ elif self._control.manual_gear_shift and event.key == K_PERIOD:
+ self._control.gear = self._control.gear + 1
+ elif event.key == K_p and not pygame.key.get_mods() & KMOD_CTRL:
+ self._autopilot_enabled = not self._autopilot_enabled
+ world.player.set_autopilot(self._autopilot_enabled)
+ world.hud.notification(
+ 'Autopilot %s' % ('On' if self._autopilot_enabled else 'Off'))
+ elif event.key == K_l and pygame.key.get_mods() & KMOD_CTRL:
+ current_lights ^= carla.VehicleLightState.Special1
+ elif event.key == K_l and pygame.key.get_mods() & KMOD_SHIFT:
+ current_lights ^= carla.VehicleLightState.HighBeam
+ elif event.key == K_l:
+ # Use 'L' key to switch between lights:
+ # closed -> position -> low beam -> fog
+ if not self._lights & carla.VehicleLightState.Position:
+ world.hud.notification("Position lights")
+ current_lights |= carla.VehicleLightState.Position
+ else:
+ world.hud.notification("Low beam lights")
+ current_lights |= carla.VehicleLightState.LowBeam
+ if self._lights & carla.VehicleLightState.LowBeam:
+ world.hud.notification("Fog lights")
+ current_lights |= carla.VehicleLightState.Fog
+ if self._lights & carla.VehicleLightState.Fog:
+ world.hud.notification("Lights off")
+ current_lights ^= carla.VehicleLightState.Position
+ current_lights ^= carla.VehicleLightState.LowBeam
+ current_lights ^= carla.VehicleLightState.Fog
+ elif event.key == K_i:
+ current_lights ^= carla.VehicleLightState.Interior
+ elif event.key == K_z:
+ current_lights ^= carla.VehicleLightState.LeftBlinker
+ elif event.key == K_x:
+ current_lights ^= carla.VehicleLightState.RightBlinker
+
+ if not self._autopilot_enabled:
+ if isinstance(self._control, carla.VehicleControl):
+ self._parse_vehicle_keys(pygame.key.get_pressed(), clock.get_time())
+ self._control.reverse = self._control.gear < 0
+ # Set automatic control-related vehicle lights
+ if self._control.brake:
+ current_lights |= carla.VehicleLightState.Brake
+ else: # Remove the Brake flag
+ current_lights &= ~carla.VehicleLightState.Brake
+ if self._control.reverse:
+ current_lights |= carla.VehicleLightState.Reverse
+ else: # Remove the Reverse flag
+ current_lights &= ~carla.VehicleLightState.Reverse
+ if current_lights != self._lights: # Change the light state only if necessary
+ self._lights = current_lights
+ world.player.set_light_state(carla.VehicleLightState(self._lights))
+ elif isinstance(self._control, carla.WalkerControl):
+ self._parse_walker_keys(pygame.key.get_pressed(), clock.get_time(), world)
+ world.player.apply_control(self._control)
+
+ def _parse_vehicle_keys(self, keys, milliseconds):
+ if keys[K_UP] or keys[K_w]:
+ self._control.throttle = min(self._control.throttle + 0.01, 1)
+ else:
+ self._control.throttle = 0.0
+
+ if keys[K_DOWN] or keys[K_s]:
+ self._control.brake = min(self._control.brake + 0.2, 1)
+ else:
+ self._control.brake = 0
+
+ steer_increment = 5e-4 * milliseconds
+ if keys[K_LEFT] or keys[K_a]:
+ if self._steer_cache > 0:
+ self._steer_cache = 0
+ else:
+ self._steer_cache -= steer_increment
+ elif keys[K_RIGHT] or keys[K_d]:
+ if self._steer_cache < 0:
+ self._steer_cache = 0
+ else:
+ self._steer_cache += steer_increment
+ else:
+ self._steer_cache = 0.0
+ self._steer_cache = min(0.7, max(-0.7, self._steer_cache))
+ self._control.steer = round(self._steer_cache, 1)
+ self._control.hand_brake = keys[K_SPACE]
+
+ def _parse_walker_keys(self, keys, milliseconds, world):
+ self._control.speed = 0.0
+ if keys[K_DOWN] or keys[K_s]:
+ self._control.speed = 0.0
+ if keys[K_LEFT] or keys[K_a]:
+ self._control.speed = .01
+ self._rotation.yaw -= 0.08 * milliseconds
+ if keys[K_RIGHT] or keys[K_d]:
+ self._control.speed = .01
+ self._rotation.yaw += 0.08 * milliseconds
+ if keys[K_UP] or keys[K_w]:
+ self._control.speed = world.player_max_speed_fast if pygame.key.get_mods() & KMOD_SHIFT else world.player_max_speed
+ self._control.jump = keys[K_SPACE]
+ self._rotation.yaw = round(self._rotation.yaw, 1)
+ self._control.direction = self._rotation.get_forward_vector()
+
+ @staticmethod
+ def _is_quit_shortcut(key):
+ return (key == K_ESCAPE) or (key == K_q and pygame.key.get_mods() & KMOD_CTRL)
+
+
+# ==============================================================================
+# -- HUD -----------------------------------------------------------------------
+# ==============================================================================
+
+
+class HUD(object):
+ def __init__(self, width, height):
+ self.dim = (width, height)
+ font = pygame.font.Font(pygame.font.get_default_font(), 20)
+ font_name = 'courier' if os.name == 'nt' else 'mono'
+ fonts = [x for x in pygame.font.get_fonts() if font_name in x]
+ default_font = 'ubuntumono'
+ mono = default_font if default_font in fonts else fonts[0]
+ mono = pygame.font.match_font(mono)
+ self._font_mono = pygame.font.Font(mono, 12 if os.name == 'nt' else 14)
+ self._notifications = FadingText(font, (width, 40), (0, height - 40))
+ self.help = HelpText(pygame.font.Font(mono, 16), width, height)
+ self.server_fps = 0
+ self.frame = 0
+ self.simulation_time = 0
+ self._show_info = True
+ self._info_text = []
+ self._server_clock = pygame.time.Clock()
+
+ def on_world_tick(self, timestamp):
+ self._server_clock.tick()
+ self.server_fps = self._server_clock.get_fps()
+ self.frame = timestamp.frame
+ self.simulation_time = timestamp.elapsed_seconds
+
+ def tick(self, world, clock):
+ self._notifications.tick(world, clock)
+ if not self._show_info:
+ return
+ t = world.player.get_transform()
+ v = world.player.get_velocity()
+ c = world.player.get_control()
+ compass = world.imu_sensor.compass
+ heading = 'N' if compass > 270.5 or compass < 89.5 else ''
+ heading += 'S' if 90.5 < compass < 269.5 else ''
+ heading += 'E' if 0.5 < compass < 179.5 else ''
+ heading += 'W' if 180.5 < compass < 359.5 else ''
+ colhist = world.collision_sensor.get_collision_history()
+ collision = [colhist[x + self.frame - 200] for x in range(0, 200)]
+ max_col = max(1.0, max(collision))
+ collision = [x / max_col for x in collision]
+ vehicles = world.world.get_actors().filter('vehicle.*')
+ self._info_text = [
+ 'Server: % 16.0f FPS' % self.server_fps,
+ 'Client: % 16.0f FPS' % clock.get_fps(),
+ '',
+ 'Vehicle: % 20s' % get_actor_display_name(world.player, truncate=20),
+ 'Map: % 20s' % world.map.name,
+ 'Simulation time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)),
+ '',
+ 'Speed: % 15.0f km/h' % (3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2)),
+ u'Compass:% 17.0f\N{DEGREE SIGN} % 2s' % (compass, heading),
+ 'Accelero: (%5.1f,%5.1f,%5.1f)' % (world.imu_sensor.accelerometer),
+ 'Gyroscop: (%5.1f,%5.1f,%5.1f)' % (world.imu_sensor.gyroscope),
+ 'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (t.location.x, t.location.y)),
+ 'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)),
+ 'Height: % 18.0f m' % t.location.z,
+ '']
+ if isinstance(c, carla.VehicleControl):
+ self._info_text += [
+ ('Throttle:', c.throttle, 0.0, 1.0),
+ ('Steer:', c.steer, -1.0, 1.0),
+ ('Brake:', c.brake, 0.0, 1.0),
+ ('Reverse:', c.reverse),
+ ('Hand brake:', c.hand_brake),
+ ('Manual:', c.manual_gear_shift),
+ 'Gear: %s' % {-1: 'R', 0: 'N'}.get(c.gear, c.gear)]
+ elif isinstance(c, carla.WalkerControl):
+ self._info_text += [
+ ('Speed:', c.speed, 0.0, 5.556),
+ ('Jump:', c.jump)]
+ self._info_text += [
+ '',
+ 'Collision:',
+ collision,
+ '',
+ 'Number of vehicles: % 8d' % len(vehicles)]
+ if len(vehicles) > 1:
+ self._info_text += ['Nearby vehicles:']
+ distance = lambda l: math.sqrt((l.x - t.location.x)**2 + (l.y - t.location.y)**2 + (l.z - t.location.z)**2)
+ vehicles = [(distance(x.get_location()), x) for x in vehicles if x.id != world.player.id]
+ for d, vehicle in sorted(vehicles, key=lambda vehicles: vehicles[0]):
+ if d > 200.0:
+ break
+ vehicle_type = get_actor_display_name(vehicle, truncate=22)
+ self._info_text.append('% 4dm %s' % (d, vehicle_type))
+
+ def toggle_info(self):
+ self._show_info = not self._show_info
+
+ def notification(self, text, seconds=2.0):
+ self._notifications.set_text(text, seconds=seconds)
+
+ def error(self, text):
+ self._notifications.set_text('Error: %s' % text, (255, 0, 0))
+
+ def render(self, display):
+ if self._show_info:
+ info_surface = pygame.Surface((220, self.dim[1]))
+ info_surface.set_alpha(100)
+ display.blit(info_surface, (0, 0))
+ v_offset = 4
+ bar_h_offset = 100
+ bar_width = 106
+ for item in self._info_text:
+ if v_offset + 18 > self.dim[1]:
+ break
+ if isinstance(item, list):
+ if len(item) > 1:
+ points = [(x + 8, v_offset + 8 + (1.0 - y) * 30) for x, y in enumerate(item)]
+ pygame.draw.lines(display, (255, 136, 0), False, points, 2)
+ item = None
+ v_offset += 18
+ elif isinstance(item, tuple):
+ if isinstance(item[1], bool):
+ rect = pygame.Rect((bar_h_offset, v_offset + 8), (6, 6))
+ pygame.draw.rect(display, (255, 255, 255), rect, 0 if item[1] else 1)
+ else:
+ rect_border = pygame.Rect((bar_h_offset, v_offset + 8), (bar_width, 6))
+ pygame.draw.rect(display, (255, 255, 255), rect_border, 1)
+ f = (item[1] - item[2]) / (item[3] - item[2])
+ if item[2] < 0.0:
+ rect = pygame.Rect((bar_h_offset + f * (bar_width - 6), v_offset + 8), (6, 6))
+ else:
+ rect = pygame.Rect((bar_h_offset, v_offset + 8), (f * bar_width, 6))
+ pygame.draw.rect(display, (255, 255, 255), rect)
+ item = item[0]
+ if item: # At this point has to be a str.
+ surface = self._font_mono.render(item, True, (255, 255, 255))
+ display.blit(surface, (8, v_offset))
+ v_offset += 18
+ self._notifications.render(display)
+ self.help.render(display)
+
+
+# ==============================================================================
+# -- FadingText ----------------------------------------------------------------
+# ==============================================================================
+
+
+class FadingText(object):
+ def __init__(self, font, dim, pos):
+ self.font = font
+ self.dim = dim
+ self.pos = pos
+ self.seconds_left = 0
+ self.surface = pygame.Surface(self.dim)
+
+ def set_text(self, text, color=(255, 255, 255), seconds=2.0):
+ text_texture = self.font.render(text, True, color)
+ self.surface = pygame.Surface(self.dim)
+ self.seconds_left = seconds
+ self.surface.fill((0, 0, 0, 0))
+ self.surface.blit(text_texture, (10, 11))
+
+ def tick(self, _, clock):
+ delta_seconds = 1e-3 * clock.get_time()
+ self.seconds_left = max(0.0, self.seconds_left - delta_seconds)
+ self.surface.set_alpha(500.0 * self.seconds_left)
+
+ def render(self, display):
+ display.blit(self.surface, self.pos)
+
+
+# ==============================================================================
+# -- HelpText ------------------------------------------------------------------
+# ==============================================================================
+
+
+class HelpText(object):
+ """Helper class to handle text output using pygame"""
+ def __init__(self, font, width, height):
+ lines = __doc__.split('\n')
+ self.font = font
+ self.line_space = 18
+ self.dim = (780, len(lines) * self.line_space + 12)
+ self.pos = (0.5 * width - 0.5 * self.dim[0], 0.5 * height - 0.5 * self.dim[1])
+ self.seconds_left = 0
+ self.surface = pygame.Surface(self.dim)
+ self.surface.fill((0, 0, 0, 0))
+ for n, line in enumerate(lines):
+ text_texture = self.font.render(line, True, (255, 255, 255))
+ self.surface.blit(text_texture, (22, n * self.line_space))
+ self._render = False
+ self.surface.set_alpha(220)
+
+ def toggle(self):
+ self._render = not self._render
+
+ def render(self, display):
+ if self._render:
+ display.blit(self.surface, self.pos)
+
+
+# ==============================================================================
+# -- CollisionSensor -----------------------------------------------------------
+# ==============================================================================
+
+
+class CollisionSensor(object):
+ def __init__(self, parent_actor, hud):
+ self.sensor = None
+ self.history = []
+ self._parent = parent_actor
+ self.hud = hud
+ world = self._parent.get_world()
+ bp = world.get_blueprint_library().find('sensor.other.collision')
+ self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
+ # We need to pass the lambda a weak reference to self to avoid circular
+ # reference.
+ weak_self = weakref.ref(self)
+ self.sensor.listen(lambda event: CollisionSensor._on_collision(weak_self, event))
+
+ def get_collision_history(self):
+ history = collections.defaultdict(int)
+ for frame, intensity in self.history:
+ history[frame] += intensity
+ return history
+
+ @staticmethod
+ def _on_collision(weak_self, event):
+ self = weak_self()
+ if not self:
+ return
+ actor_type = get_actor_display_name(event.other_actor)
+ self.hud.notification('Collision with %r' % actor_type)
+ impulse = event.normal_impulse
+ intensity = math.sqrt(impulse.x**2 + impulse.y**2 + impulse.z**2)
+ self.history.append((event.frame, intensity))
+ if len(self.history) > 4000:
+ self.history.pop(0)
+
+
+# ==============================================================================
+# -- LaneInvasionSensor --------------------------------------------------------
+# ==============================================================================
+
+
+class LaneInvasionSensor(object):
+ def __init__(self, parent_actor, hud):
+ self.sensor = None
+ self._parent = parent_actor
+ self.hud = hud
+ world = self._parent.get_world()
+ bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
+ self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
+ # We need to pass the lambda a weak reference to self to avoid circular
+ # reference.
+ weak_self = weakref.ref(self)
+ self.sensor.listen(lambda event: LaneInvasionSensor._on_invasion(weak_self, event))
+
+ @staticmethod
+ def _on_invasion(weak_self, event):
+ self = weak_self()
+ if not self:
+ return
+ lane_types = set(x.type for x in event.crossed_lane_markings)
+ text = ['%r' % str(x).split()[-1] for x in lane_types]
+ self.hud.notification('Crossed line %s' % ' and '.join(text))
+
+
+# ==============================================================================
+# -- GnssSensor ----------------------------------------------------------------
+# ==============================================================================
+
+
+class GnssSensor(object):
+ def __init__(self, parent_actor):
+ self.sensor = None
+ self._parent = parent_actor
+ self.lat = 0.0
+ self.lon = 0.0
+ world = self._parent.get_world()
+ bp = world.get_blueprint_library().find('sensor.other.gnss')
+ self.sensor = world.spawn_actor(bp, carla.Transform(carla.Location(x=1.0, z=2.8)), attach_to=self._parent)
+ # We need to pass the lambda a weak reference to self to avoid circular
+ # reference.
+ weak_self = weakref.ref(self)
+ self.sensor.listen(lambda event: GnssSensor._on_gnss_event(weak_self, event))
+
+ @staticmethod
+ def _on_gnss_event(weak_self, event):
+ self = weak_self()
+ if not self:
+ return
+ self.lat = event.latitude
+ self.lon = event.longitude
+
+
+# ==============================================================================
+# -- IMUSensor -----------------------------------------------------------------
+# ==============================================================================
+
+
+class IMUSensor(object):
+ def __init__(self, parent_actor):
+ self.sensor = None
+ self._parent = parent_actor
+ self.accelerometer = (0.0, 0.0, 0.0)
+ self.gyroscope = (0.0, 0.0, 0.0)
+ self.compass = 0.0
+ world = self._parent.get_world()
+ bp = world.get_blueprint_library().find('sensor.other.imu')
+ self.sensor = world.spawn_actor(
+ bp, carla.Transform(), attach_to=self._parent)
+ # We need to pass the lambda a weak reference to self to avoid circular
+ # reference.
+ weak_self = weakref.ref(self)
+ self.sensor.listen(
+ lambda sensor_data: IMUSensor._IMU_callback(weak_self, sensor_data))
+
+ @staticmethod
+ def _IMU_callback(weak_self, sensor_data):
+ self = weak_self()
+ if not self:
+ return
+ limits = (-99.9, 99.9)
+ self.accelerometer = (
+ max(limits[0], min(limits[1], sensor_data.accelerometer.x)),
+ max(limits[0], min(limits[1], sensor_data.accelerometer.y)),
+ max(limits[0], min(limits[1], sensor_data.accelerometer.z)))
+ self.gyroscope = (
+ max(limits[0], min(limits[1], math.degrees(sensor_data.gyroscope.x))),
+ max(limits[0], min(limits[1], math.degrees(sensor_data.gyroscope.y))),
+ max(limits[0], min(limits[1], math.degrees(sensor_data.gyroscope.z))))
+ self.compass = math.degrees(sensor_data.compass)
+
+
+# ==============================================================================
+# -- RadarSensor ---------------------------------------------------------------
+# ==============================================================================
+
+
+class RadarSensor(object):
+ def __init__(self, parent_actor):
+ self.sensor = None
+ self._parent = parent_actor
+ self.velocity_range = 7.5 # m/s
+ world = self._parent.get_world()
+ self.debug = world.debug
+ bp = world.get_blueprint_library().find('sensor.other.radar')
+ bp.set_attribute('horizontal_fov', str(35))
+ bp.set_attribute('vertical_fov', str(20))
+ self.sensor = world.spawn_actor(
+ bp,
+ carla.Transform(
+ carla.Location(x=2.8, z=1.0),
+ carla.Rotation(pitch=5)),
+ attach_to=self._parent)
+ # We need a weak reference to self to avoid circular reference.
+ weak_self = weakref.ref(self)
+ self.sensor.listen(
+ lambda radar_data: RadarSensor._Radar_callback(weak_self, radar_data))
+
+ @staticmethod
+ def _Radar_callback(weak_self, radar_data):
+ self = weak_self()
+ if not self:
+ return
+ # To get a numpy [[vel, altitude, azimuth, depth],...[,,,]]:
+ # points = np.frombuffer(radar_data.raw_data, dtype=np.dtype('f4'))
+ # points = np.reshape(points, (len(radar_data), 4))
+
+ current_rot = radar_data.transform.rotation
+ for detect in radar_data:
+ azi = math.degrees(detect.azimuth)
+ alt = math.degrees(detect.altitude)
+ # The 0.25 adjusts a bit the distance so the dots can
+ # be properly seen
+ fw_vec = carla.Vector3D(x=detect.depth - 0.25)
+ carla.Transform(
+ carla.Location(),
+ carla.Rotation(
+ pitch=current_rot.pitch + alt,
+ yaw=current_rot.yaw + azi,
+ roll=current_rot.roll)).transform(fw_vec)
+
+ def clamp(min_v, max_v, value):
+ return max(min_v, min(value, max_v))
+
+ norm_velocity = detect.velocity / self.velocity_range # range [-1, 1]
+ r = int(clamp(0.0, 1.0, 1.0 - norm_velocity) * 255.0)
+ g = int(clamp(0.0, 1.0, 1.0 - abs(norm_velocity)) * 255.0)
+ b = int(abs(clamp(- 1.0, 0.0, - 1.0 - norm_velocity)) * 255.0)
+ self.debug.draw_point(
+ radar_data.transform.location + fw_vec,
+ size=0.075,
+ life_time=0.06,
+ persistent_lines=False,
+ color=carla.Color(r, g, b))
+
+# ==============================================================================
+# -- CameraManager -------------------------------------------------------------
+# ==============================================================================
+
+
+class CameraManager(object):
+ def __init__(self, parent_actor, hud, gamma_correction):
+ self.sensor = None
+ self.surface = None
+ self._parent = parent_actor
+ self.hud = hud
+ self.recording = False
+ bound_y = 0.5 + self._parent.bounding_box.extent.y
+ Attachment = carla.AttachmentType
+ self._camera_transforms = [
+ (carla.Transform(carla.Location(x=-5.5, z=2.5), carla.Rotation(pitch=8.0)), Attachment.SpringArm),
+ (carla.Transform(carla.Location(x=1.6, z=1.7)), Attachment.Rigid),
+ (carla.Transform(carla.Location(x=5.5, y=1.5, z=1.5)), Attachment.SpringArm),
+ (carla.Transform(carla.Location(x=-8.0, z=6.0), carla.Rotation(pitch=6.0)), Attachment.SpringArm),
+ (carla.Transform(carla.Location(x=-1, y=-bound_y, z=0.5)), Attachment.Rigid)]
+ self.transform_index = 1
+ self.sensors = [
+ ['sensor.camera.rgb', cc.Raw, 'Camera RGB', {}],
+ ['sensor.camera.depth', cc.Raw, 'Camera Depth (Raw)', {}],
+ ['sensor.camera.depth', cc.Depth, 'Camera Depth (Gray Scale)', {}],
+ ['sensor.camera.depth', cc.LogarithmicDepth, 'Camera Depth (Logarithmic Gray Scale)', {}],
+ ['sensor.camera.semantic_segmentation', cc.Raw, 'Camera Semantic Segmentation (Raw)', {}],
+ ['sensor.camera.semantic_segmentation', cc.CityScapesPalette,
+ 'Camera Semantic Segmentation (CityScapes Palette)', {}],
+ ['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)', {'range': '50'}],
+ ['sensor.camera.dvs', cc.Raw, 'Dynamic Vision Sensor', {}],
+ ['sensor.camera.rgb', cc.Raw, 'Camera RGB Distorted',
+ {'lens_circle_multiplier': '3.0',
+ 'lens_circle_falloff': '3.0',
+ 'chromatic_aberration_intensity': '0.5',
+ 'chromatic_aberration_offset': '0'}]]
+ world = self._parent.get_world()
+ bp_library = world.get_blueprint_library()
+ for item in self.sensors:
+ bp = bp_library.find(item[0])
+ if item[0].startswith('sensor.camera'):
+ bp.set_attribute('image_size_x', str(hud.dim[0]))
+ bp.set_attribute('image_size_y', str(hud.dim[1]))
+ if bp.has_attribute('gamma'):
+ bp.set_attribute('gamma', str(gamma_correction))
+ for attr_name, attr_value in item[3].items():
+ bp.set_attribute(attr_name, attr_value)
+ elif item[0].startswith('sensor.lidar'):
+ self.lidar_range = 50
+
+ for attr_name, attr_value in item[3].items():
+ bp.set_attribute(attr_name, attr_value)
+ if attr_name == 'range':
+ self.lidar_range = float(attr_value)
+
+ item.append(bp)
+ self.index = None
+
+ def toggle_camera(self):
+ self.transform_index = (self.transform_index + 1) % len(self._camera_transforms)
+ self.set_sensor(self.index, notify=False, force_respawn=True)
+
+ def set_sensor(self, index, notify=True, force_respawn=False):
+ index = index % len(self.sensors)
+ needs_respawn = True if self.index is None else \
+ (force_respawn or (self.sensors[index][2] != self.sensors[self.index][2]))
+ if needs_respawn:
+ if self.sensor is not None:
+ self.sensor.destroy()
+ self.surface = None
+ self.sensor = self._parent.get_world().spawn_actor(
+ self.sensors[index][-1],
+ self._camera_transforms[self.transform_index][0],
+ attach_to=self._parent,
+ attachment_type=self._camera_transforms[self.transform_index][1])
+ # We need to pass the lambda a weak reference to self to avoid
+ # circular reference.
+ weak_self = weakref.ref(self)
+ self.sensor.listen(lambda image: CameraManager._parse_image(weak_self, image))
+ if notify:
+ self.hud.notification(self.sensors[index][2])
+ self.index = index
+
+ def next_sensor(self):
+ self.set_sensor(self.index + 1)
+
+ def toggle_recording(self):
+ self.recording = not self.recording
+ self.hud.notification('Recording %s' % ('On' if self.recording else 'Off'))
+
+ def render(self, display):
+ if self.surface is not None:
+ display.blit(self.surface, (0, 0))
+
+ @staticmethod
+ def _parse_image(weak_self, image):
+ self = weak_self()
+ if not self:
+ return
+ if self.sensors[self.index][0].startswith('sensor.lidar'):
+ points = np.frombuffer(image.raw_data, dtype=np.dtype('f4'))
+ points = np.reshape(points, (int(points.shape[0] / 4), 4))
+ lidar_data = np.array(points[:, :2])
+ lidar_data *= min(self.hud.dim) / (2.0 * self.lidar_range)
+ lidar_data += (0.5 * self.hud.dim[0], 0.5 * self.hud.dim[1])
+ lidar_data = np.fabs(lidar_data) # pylint: disable=E1111
+ lidar_data = lidar_data.astype(np.int32)
+ lidar_data = np.reshape(lidar_data, (-1, 2))
+ lidar_img_size = (self.hud.dim[0], self.hud.dim[1], 3)
+ lidar_img = np.zeros((lidar_img_size), dtype=np.uint8)
+ lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
+ self.surface = pygame.surfarray.make_surface(lidar_img)
+ elif self.sensors[self.index][0].startswith('sensor.camera.dvs'):
+ # Example of converting the raw_data from a carla.DVSEventArray
+ # sensor into a NumPy array and using it as an image
+ dvs_events = np.frombuffer(image.raw_data, dtype=np.dtype([
+ ('x', np.uint16), ('y', np.uint16), ('t', np.int64), ('pol', np.bool)]))
+ dvs_img = np.zeros((image.height, image.width, 3), dtype=np.uint8)
+ # Blue is positive, red is negative
+ dvs_img[dvs_events[:]['y'], dvs_events[:]['x'], dvs_events[:]['pol'] * 2] = 255
+ self.surface = pygame.surfarray.make_surface(dvs_img.swapaxes(0, 1))
+ else:
+ image.convert(self.sensors[self.index][1])
+ array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
+ array = np.reshape(array, (image.height, image.width, 4))
+ array = array[:, :, :3]
+ array = array[:, :, ::-1]
+ self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
+ if self.recording:
+ image.save_to_disk('_out/%08d' % image.frame)
+
+
+# ==============================================================================
+# -- game_loop() ---------------------------------------------------------------
+# ==============================================================================
+
+
+def game_loop(args):
+ pygame.init()
+ pygame.font.init()
+ world = None
+
+ try:
+ client = carla.Client(args.host, args.port)
+ client.set_timeout(200.0)
+
+ display = pygame.display.set_mode(
+ (args.width, args.height),
+ pygame.HWSURFACE | pygame.DOUBLEBUF)
+
+ hud = HUD(args.width, args.height)
+ world = World(client.get_world(), hud, args)
+ controller = KeyboardControl(world, args.autopilot)
+
+ clock = pygame.time.Clock()
+ while True:
+ clock.tick_busy_loop(60)
+ if controller.parse_events(client, world, clock):
+ return
+ world.tick(clock)
+ world.render(display)
+ pygame.display.flip()
+
+ finally:
+
+ if (world and world.recording_enabled):
+ client.stop_recorder()
+
+ if world is not None:
+ world.destroy()
+
+ pygame.quit()
+
+
+# ==============================================================================
+# -- main() --------------------------------------------------------------------
+# ==============================================================================
+
+
+def main():
+ argparser = argparse.ArgumentParser(
+ description='CARLA Manual Control Client')
+ argparser.add_argument(
+ '-v', '--verbose',
+ action='store_true',
+ dest='debug',
+ help='print debug information')
+ argparser.add_argument(
+ '--host',
+ metavar='H',
+ default='127.0.0.1',
+ help='IP of the host server (default: 127.0.0.1)')
+ argparser.add_argument(
+ '-p', '--port',
+ metavar='P',
+ default=2000,
+ type=int,
+ help='TCP port to listen to (default: 2000)')
+ argparser.add_argument(
+ '-a', '--autopilot',
+ action='store_true',
+ help='enable autopilot')
+ argparser.add_argument(
+ '--res',
+ metavar='WIDTHxHEIGHT',
+ default='1280x720',
+ help='window resolution (default: 1280x720)')
+ argparser.add_argument(
+ '--filter',
+ metavar='PATTERN',
+ default='vehicle.*',
+ help='actor filter (default: "vehicle.*")')
+ argparser.add_argument(
+ '--rolename',
+ metavar='NAME',
+ default='hero',
+ help='actor role name (default: "hero")')
+ argparser.add_argument(
+ '--gamma',
+ default=2.2,
+ type=float,
+ help='Gamma correction of the camera (default: 2.2)')
+ args = argparser.parse_args()
+
+ args.width, args.height = [int(x) for x in args.res.split('x')]
+
+ log_level = logging.DEBUG if args.debug else logging.INFO
+ logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level)
+
+ logging.info('listening to server %s:%s', args.host, args.port)
+
+ print(__doc__)
+
+ try:
+
+ game_loop(args)
+
+ except KeyboardInterrupt:
+ print('\nCancelled by user. Bye!')
+
+
+if __name__ == '__main__':
+
+ main()
diff --git a/mkdocs.yml b/mkdocs.yml
index 7ff5831ff..53a8a567c 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -54,6 +54,7 @@ nav:
- 'CarSim Integration (Beta)': "tuto_G_carsim_integration.md"
- 'RLlib Integration': "tuto_G_rllib_integration.md"
- 'Scenic': 'tuto_G_scenic.md'
+ - 'Chrono Integration': 'tuto_G_chrono.md'
- Tutorials (assets):
- 'Add a new map': 'tuto_A_add_map_overview.md'
- 'Add a new vehicle': 'tuto_A_add_vehicle.md'
+Snippet for carla.World.spawn_actor +
+
+
+```py
+
+
+# This recipe attaches different camera / sensors to a vehicle with different attachments.
+
+# ...
+camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
+# Default attachment: Attachment.Rigid
+gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
+collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
+lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
+# ...
+
+
+```
+
+ +
+
++ +
+
diff --git a/Docs/tuto_G_chrono.md b/Docs/tuto_G_chrono.md
new file mode 100644
index 000000000..279cc2bc2
--- /dev/null
+++ b/Docs/tuto_G_chrono.md
@@ -0,0 +1,75 @@
+# Chrono Integration
+
+This guide outlines what Chrono is, how to use it in CARLA, and the limitations involved in the integration.
+
+- [__Project Chrono__](#project-chrono)
+- [__Using Chrono on CARLA__](#using-chrono-on-carla)
+ - [Configuring the server](#configuring-the-server)
+ - [Enabling Chrono physics](#enabling-chrono-physics)
+- [__Limitations__](#limitations)
+
+---
+
+## Project Chrono
+
+[Project Chrono](https://projectchrono.org/) is an open-source, multi-physics simulation engine that provides highly realistic vehicle dynamics using a template-based approach. The integration in CARLA allows users to utilize Chrono templates to simulate vehicle dynamics while navigating a map.
+
+---
+
+## Using Chrono on CARLA
+
+To use the Chrono integration, you must first configure the server with a tag on startup and then use the PythonAPI to enable it on a spawned vehicle. Read on for more details.
+
+### Configuring the server
+
+Chrono will only work if the CARLA server is compiled with the Chrono tag.
+
+__In the build from source version of CARLA__, run the following command to start the server:
+
+```sh
+make launch ARGS="--chrono"
+```
+
+---
+
+### Enabling Chrono physics
+
+Chrono physics is enabled using the `enable_chrono_physics` method available through the [Actor](python_api.md#carlaactor) class. As well as values for substeps and substep delta time, it requires three template files and a base path to locate those files:
+
+- __`base_path`:__ Path of the directory which contains the template files. This is necessary to ensure that auxiliary files referenced from the template files have a common base path from which to search.
+- __`vehicle_json`:__ Path of the vehicle template file relative to the `base_path`.
+- __`tire_json`:__ Path of the tire template file relative to the `base_path`.
+- __`powertrain_json`:__ Path of the powertrain template file relative to the `base_path`.
+
+!!! Important
+ Double-check your paths. Incorrect or missing paths can cause Unreal Engine to crash.
+
+There are a variety of example template files for different vehicles available in `Build/chrono-install/share/chrono/data/vehicle`. Read the Project Chrono [documentation](https://api.projectchrono.org/manual_vehicle.html) to find out more about their vehicle examples and how to create templates.
+
+See below for an example of how to enable Chrono physics:
+
+```python
+ # Spawn your vehicle
+ vehicle = world.spawn_actor(bp, spawn_point)
+
+ # Set the base path
+ base_path = "/path/to/carla/Build/chrono-install/share/chrono/data/vehicle/"
+
+ # Set the template files
+
+ vehicle_json = "sedan/vehicle/Sedan_Vehicle.json"
+ powertrain_json = "sedan/powertrain/Sedan_SimpleMapPowertrain.json"
+ tire_json = "sedan/tire/Sedan_TMeasyTire.json"
+
+ # Enable Chrono physics
+
+ vehicle.enable_chrono_physics(5000, 0.002, vehicle_json, powertrain_json, tire_json, base_path)
+```
+
+You can try the Chrono physics integration using the example script `manual_control_chrono.py` found in `PythonAPI/examples`. After running the script, press `Ctrl + o` to enable Chrono.
+
+---
+
+### Limitations
+
+This integration does not support collisions. __When a collision occurs, the vehicle will revert to CARLA default physics.__
diff --git a/PythonAPI/docs/actor.yml b/PythonAPI/docs/actor.yml
index 2abfb7352..7bfd4861a 100644
--- a/PythonAPI/docs/actor.yml
+++ b/PythonAPI/docs/actor.yml
@@ -86,6 +86,39 @@
doc: >
Disables any constant velocity previously set for a carla.Vehicle actor.
# --------------------------------------
+ - def_name: enable_chrono_physics
+ params:
+ - param_name: max_substeps
+ type: int
+ doc: >
+ Max number of Chrono substeps
+ - param_name: max_substep_delta_time
+ type: int
+ doc: >
+ Max size of substep
+ - param_name: vehicle_json
+ type: str
+ doc: >
+ Path to vehicle json file relative to `base_json_path`
+ - param_name: powertrain_json
+ type: str
+ doc: >
+ Path to powertrain json file relative to `base_json_path`
+ - param_name: tire_json
+ type: str
+ doc: >
+ Path to tire json file relative to `base_json_path`
+ - param_name: base_json_path
+ type: str
+ doc: >
+ Path to `chrono/data/vehicle` folder. E.g., `/home/user/carla/Build/chrono-install/share/chrono/data/vehicle/` (the final `/` character is required).
+ doc: >
+ Enables Chrono physics on a spawned vehicle.
+ note: >
+ Ensure that you have started the CARLA server with the `ARGS="--chrono"` flag. You will not be able to use Chrono physics without this flag set.
+ warning: >
+ Collisions are not supported. When a collision is detected, physics will revert to the default CARLA physics.
+ # --------------------------------------
- def_name: enable_constant_velocity
params:
- param_name: velocity
@@ -95,7 +128,7 @@
param_units: m/s
doc: >
Sets a vehicle's velocity vector to a constant value over time. The resulting velocity will be approximately the `velocity` being set, as with __set_target_velocity()__.
- Note: >
+ note: >
Only carla.Vehicle actors can use this method.
warning: >
Enabling a constant velocity for a vehicle managed by the [Traffic Manager](https://carla.readthedocs.io/en/latest/adv_traffic_manager/) may cause conflicts. This method overrides any changes in velocity by the TM.
diff --git a/PythonAPI/examples/manual_control_chrono.py b/PythonAPI/examples/manual_control_chrono.py
new file mode 100644
index 000000000..e557d2699
--- /dev/null
+++ b/PythonAPI/examples/manual_control_chrono.py
@@ -0,0 +1,1206 @@
+#!/usr/bin/env python
+
+# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB).
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see +Snippet for carla.World.get_spectator +
+
+
+```py
+
+
+# This recipe spawns an actor and the spectator camera at the actor's location.
+
+# ...
+world = client.get_world()
+spectator = world.get_spectator()
+
+vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
+transform = random.choice(world.get_map().get_spawn_points())
+vehicle = world.try_spawn_actor(vehicle_bp, transform)
+
+# Wait for world to get the vehicle actor
+world.tick()
+
+world_snapshot = world.wait_for_tick()
+actor_snapshot = world_snapshot.find(vehicle.id)
+
+# Set spectator at given transform (vehicle transform)
+spectator.set_transform(actor_snapshot.get_transform())
+# ...
+
+
+```
+
+ +
+ +