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fixed refs in dev (#7232)

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MattRoweEAIF 2024-03-11 11:49:51 +01:00 committed by GitHub
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6
Docs/3rd_party_integrations.md
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@ -8,7 +8,7 @@ CARLA has been developed to integrate with several 3rd party applications in ord
- [__Scenic__](tuto_G_scenic.md) - [__Scenic__](tuto_G_scenic.md)
- [__CarSIM__](tuto_G_carsim_integration.md) - [__CarSIM__](tuto_G_carsim_integration.md)
- [__Chrono__](tuto_G_chrono.md) - [__Chrono__](tuto_G_chrono.md)
- [__OpenDRIVE__](adv_opendrive.md) - [__ASAM OpenDRIVE__](adv_opendrive.md)
- [__PTV Vissim__](adv_ptv.md) - [__PTV Vissim__](adv_ptv.md)
- [__RSS__](adv_rss.md) - [__RSS__](adv_rss.md)
- [__AWS and RLlib__](tuto_G_rllib_integration.md) - [__AWS and RLlib__](tuto_G_rllib_integration.md)
@ -59,9 +59,9 @@ CARLA's integration with CarSim allows vehicle controls in CARLA to be forwarded
Learn how to use CARLA alongside CarSIM [here](tuto_G_carsim_integration.md). Learn how to use CARLA alongside CarSIM [here](tuto_G_carsim_integration.md).
## OpenDRIVE ## ASAM OpenDRIVE
[__OpenDRIVE__](https://www.asam.net/standards/detail/opendrive/) is an open format specification used to describe the logic of a road network intended to standardise the discription of road networks in digital format and allow different applications to exchange data on road networks. Please refer to the full documentation [__here__](adv_opendrive.md) [__ASAM OpenDRIVE__](https://www.asam.net/standards/detail/opendrive/) is an open format specification used to describe the logic of a road network intended to standardise the discription of road networks in digital format and allow different applications to exchange data on road networks. Please refer to the full documentation [__here__](adv_opendrive.md)
## RSS - Responsibility Sensitive Safety ## RSS - Responsibility Sensitive Safety

8
Docs/adv_opendrive.md
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@ -1,6 +1,6 @@
# OpenDRIVE standalone mode # ASAM OpenDRIVE standalone mode
This feature allows users to ingest any OpenDRIVE file as a CARLA map out-of-the-box. In order to do so, the simulator will automatically generate a road mesh for actors to navigate through. This feature allows users to ingest any ASAM OpenDRIVE file as a CARLA map out-of-the-box. In order to do so, the simulator will automatically generate a road mesh for actors to navigate through.
* [__Overview__](#overview) * [__Overview__](#overview)
* [__Run a standalone map__](#run-a-standalone-map) * [__Run a standalone map__](#run-a-standalone-map)
@ -26,9 +26,9 @@ Traffic lights, stops and yields will be generated on the fly. Pedestrians will
--- ---
## Run a standalone map ## Run a standalone map
Open an OpenDRIVE file is just a matter of calling [`client.generate_opendrive_world()`](python_api.md#carla.Client.generate_opendrive_world) through the API. This will generate the new map, and block the simulation until it is ready. The method needs for two parameters. Open an ASAM OpenDRIVE file is just a matter of calling [`client.generate_opendrive_world()`](python_api.md#carla.Client.generate_opendrive_world) through the API. This will generate the new map, and block the simulation until it is ready. The method needs for two parameters.
* __`opendrive`__ is the content of the OpenDRIVE file parsed as a string. * __`opendrive`__ is the content of the ASAM OpenDRIVE file parsed as a string.
* __`parameters`__ is a [carla.OpendriveGenerationParameters](python_api.md#carla.OpendriveGenerationParameters) containing settings for the generation of the mesh. __This argument is optional__. * __`parameters`__ is a [carla.OpendriveGenerationParameters](python_api.md#carla.OpendriveGenerationParameters) containing settings for the generation of the mesh. __This argument is optional__.
* __`vertex_distance`__ *(default 2.0 meters)* — Distance between the vertices of the mesh. The bigger, the distance, the more inaccurate the mesh will be. However, if the distance is too small, the resulting mesh will be too heavy to work with. * __`vertex_distance`__ *(default 2.0 meters)* — Distance between the vertices of the mesh. The bigger, the distance, the more inaccurate the mesh will be. However, if the distance is too small, the resulting mesh will be too heavy to work with.

2
Docs/core_concepts.md
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@ -37,7 +37,7 @@ __Blueprints__ are already-made actor layouts necessary to spawn an actor. Basic
### 3rd- Maps and navigation ### 3rd- Maps and navigation
__The map__ is the object representing the simulated world, the town mostly. There are eight maps available. All of them use OpenDRIVE 1.4 standard to describe the roads. __The map__ is the object representing the simulated world, the town mostly. There are eight maps available. All of them use ASAM OpenDRIVE 1.4 standard to describe the roads.
__Roads, lanes and junctions__ are managed by the [Python API](python_api.md) to be accessed from the client. These are used along with the __waypoint__ class to provide vehicles with a navigation path. __Roads, lanes and junctions__ are managed by the [Python API](python_api.md) to be accessed from the client. These are used along with the __waypoint__ class to provide vehicles with a navigation path.

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Docs/python_api.md
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@ -475,7 +475,7 @@ Executes a list of commands on a single simulation step, blocks until the comman
- <a name="carla.Client.generate_opendrive_world"></a>**<font color="#7fb800">generate_opendrive_world</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**opendrive**</font>, <font color="#00a6ed">**parameters**=(2.0, 50.0, 1.0, 0.6, true, true)</font>, <font color="#00a6ed">**reset_settings**=True</font>) - <a name="carla.Client.generate_opendrive_world"></a>**<font color="#7fb800">generate_opendrive_world</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**opendrive**</font>, <font color="#00a6ed">**parameters**=(2.0, 50.0, 1.0, 0.6, true, true)</font>, <font color="#00a6ed">**reset_settings**=True</font>)
Loads a new world with a basic 3D topology generated from the content of an OpenDRIVE file. This content is passed as a `string` parameter. It is similar to `client.load_world(map_name)` but allows for custom OpenDRIVE maps in server side. Cars can drive around the map, but there are no graphics besides the road and sidewalks. Loads a new world with a basic 3D topology generated from the content of an OpenDRIVE file. This content is passed as a `string` parameter. It is similar to `client.load_world(map_name)` but allows for custom OpenDRIVE maps in server side. Cars can drive around the map, but there are no graphics besides the road and sidewalks.
- **Parameters:** - **Parameters:**
- `opendrive` (_str_) - Content of an OpenDRIVE file as `string`, __not the path to the `.xodr`__. - `opendrive` (_str_) - Content of an ASAM OpenDRIVE file as `string`, __not the path to the `.xodr`__.
- `parameters` (_[carla.OpendriveGenerationParameters](#carla.OpendriveGenerationParameters)_) - Additional settings for the mesh generation. If none are provided, default values will be used. - `parameters` (_[carla.OpendriveGenerationParameters](#carla.OpendriveGenerationParameters)_) - Additional settings for the mesh generation. If none are provided, default values will be used.
- `reset_settings` (_bool_) - Option to reset the episode setting to default values, set to false to keep the current settings. This is useful to keep sync mode when changing map and to keep deterministic scenarios. - `reset_settings` (_bool_) - Option to reset the episode setting to default values, set to false to keep the current settings. This is useful to keep sync mode when changing map and to keep deterministic scenarios.
- <a name="carla.Client.load_world"></a>**<font color="#7fb800">load_world</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**map_name**</font>, <font color="#00a6ed">**reset_settings**=True</font>, <font color="#00a6ed">**map_layers**=[carla.MapLayer.All](#carla.MapLayer.All)</font>) - <a name="carla.Client.load_world"></a>**<font color="#7fb800">load_world</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**map_name**</font>, <font color="#00a6ed">**reset_settings**=True</font>, <font color="#00a6ed">**map_layers**=[carla.MapLayer.All](#carla.MapLayer.All)</font>)
@ -1706,7 +1706,7 @@ Distance between `actor` and `other`.
--- ---
## carla.OpendriveGenerationParameters<a name="carla.OpendriveGenerationParameters"></a> ## carla.OpendriveGenerationParameters<a name="carla.OpendriveGenerationParameters"></a>
This class defines the parameters used when generating a world using an OpenDRIVE file. This class defines the parameters used when generating a world using an ASAM OpenDRIVE file.
### Instance Variables ### Instance Variables
- <a name="carla.OpendriveGenerationParameters.vertex_distance"></a>**<font color="#f8805a">vertex_distance</font>** (_float_) - <a name="carla.OpendriveGenerationParameters.vertex_distance"></a>**<font color="#f8805a">vertex_distance</font>** (_float_)
@ -2202,6 +2202,12 @@ Sensors compound a specific family of actors quite diverse and unique. They are
When <b>True</b> the sensor will be waiting for data. When <b>True</b> the sensor will be waiting for data.
### Methods ### Methods
- <a name="carla.Sensor.disable_for_ros"></a>**<font color="#7fb800">disable_for_ros</font>**(<font color="#00a6ed">**self**</font>)
Commands the sensor to not be processed for publishing in ROS2 if there is no any listen to it.
- <a name="carla.Sensor.enable_for_ros"></a>**<font color="#7fb800">enable_for_ros</font>**(<font color="#00a6ed">**self**</font>)
Commands the sensor to be processed to be able to publish in ROS2 without any listen to it.
- <a name="carla.Sensor.is_enabled_for_ros"></a>**<font color="#7fb800">is_enabled_for_ros</font>**(<font color="#00a6ed">**self**</font>)
Returns if the sensor is enabled or not to publish in ROS2 if there is no any listen to it.
- <a name="carla.Sensor.is_listening"></a>**<font color="#7fb800">is_listening</font>**(<font color="#00a6ed">**self**</font>) - <a name="carla.Sensor.is_listening"></a>**<font color="#7fb800">is_listening</font>**(<font color="#00a6ed">**self**</font>)
Returns whether the sensor is in a listening state. Returns whether the sensor is in a listening state.
- <a name="carla.Sensor.is_listening_gbuffer"></a>**<font color="#7fb800">is_listening_gbuffer</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**gbuffer_id**</font>) - <a name="carla.Sensor.is_listening_gbuffer"></a>**<font color="#7fb800">is_listening_gbuffer</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**gbuffer_id**</font>)
@ -4188,33 +4194,29 @@ document.getElementById("snipets-container").innerHTML = null;
} }
</script> </script>
<div id ="carla.World.enable_environment_objects-snipet" style="display: none;"> <div id ="carla.World.unload_map_layer-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snippet for carla.World.enable_environment_objects Snippet for carla.World.unload_map_layer
</p> </p>
<div id="carla.World.enable_environment_objects-code" class="SnipetContent"> <div id="carla.World.unload_map_layer-code" class="SnipetContent">
```py ```py
# This recipe turn visibility off and on for two specifc buildings on the map # This recipe toggles off several layers in our "_Opt" maps
# Get the buildings in the world # Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
world = client.get_world() # as well as buildings and parked vehicles
env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings) world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
# Access individual building IDs and save in a set # Toggle all buildings off
building_01 = env_objs[0] world.unload_map_layer(carla.MapLayer.Buildings)
building_02 = env_objs[1]
objects_to_toggle = {building_01.id, building_02.id}
# Toggle buildings off # Toggle all parked vehicles off
world.enable_environment_objects(objects_to_toggle, False) world.unload_map_layer(carla.MapLayer.ParkedVehicles)
# Toggle buildings on
world.enable_environment_objects(objects_to_toggle, True)
``` ```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.enable_environment_objects-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br> <button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div> </div>
@ -4257,206 +4259,37 @@ while True:
</div> </div>
<div id ="carla.World.unload_map_layer-snipet" style="display: none;"> <div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snippet for carla.World.unload_map_layer Snippet for carla.ActorBlueprint.set_attribute
</p> </p>
<div id="carla.World.unload_map_layer-code" class="SnipetContent"> <div id="carla.ActorBlueprint.set_attribute-code" class="SnipetContent">
```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)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
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Snippet for carla.Vehicle.set_wheel_steer_direction
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<div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
```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)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Vehicle.set_wheel_steer_direction-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.Client.__init__-snipet" style="display: none;">
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Snippet for carla.Client.__init__
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<div id="carla.Client.__init__-code" class="SnipetContent">
```py ```py
# This recipe shows in every script provided in PythonAPI/Examples # This recipe changes attributes of different type of blueprint actors.
# 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)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Client.__init__-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Map.get_waypoint
</p>
<div id="carla.Map.get_waypoint-code" class="SnipetContent">
```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.
# ... # ...
waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk)) walker_bp = world.get_blueprint_library().filter('walker.pedestrian.0002')
print("Current lane type: " + str(waypoint.lane_type)) walker_bp.set_attribute('is_invincible', True)
# Check current lane change allowed
print("Current Lane change: " + str(waypoint.lane_change)) # ...
# Left and Right lane markings # Changes attribute randomly by the recommended value
print("L lane marking type: " + str(waypoint.left_lane_marking.type)) vehicle_bp = wolrd.get_blueprint_library().filter('vehicle.bmw.*')
print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change)) color = random.choice(vehicle_bp.get_attribute('color').recommended_values)
print("R lane marking type: " + str(waypoint.right_lane_marking.type)) vehicle_bp.set_attribute('color', color)
print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
# ...
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)
# ... # ...
``` ```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br> <button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.ActorBlueprint.set_attribute-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
</div>
<div id ="carla.World.spawn_actor-snipet" style="display: none;">
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Snippet for carla.World.spawn_actor
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<div id="carla.World.spawn_actor-code" class="SnipetContent">
```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)
# ...
```
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<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.WalkerAIController.stop
</p>
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
```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])
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.WalkerAIController.stop-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.DebugHelper.draw_box
</p>
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
```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)
# ...
```
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<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
</div> </div>
@ -4520,6 +4353,67 @@ camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame,
</div> </div>
<div id ="carla.World.load_map_layer-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.load_map_layer
</p>
<div id="carla.World.load_map_layer-code" class="SnipetContent">
```py
# This recipe toggles on several layers in our "_Opt" maps
# Load town one with only minimum layout (roads, sidewalks, traffic lights and traffic signs)
world = client.load_world('Town01_Opt', carla.MapLayer.None)
# Toggle all buildings on
world.load_map_layer(carla.MapLayer.Buildings)
# Toggle all foliage on
world.load_map_layer(carla.MapLayer.Foliage)
# Toggle all parked vehicles on
world.load_map_layer(carla.MapLayer.ParkedVehicles)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.load_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Map.get_waypoint
</p>
<div id="carla.Map.get_waypoint-code" class="SnipetContent">
```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.
# ...
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))
# ...
```
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<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
</div>
<div id ="carla.TrafficLight.set_state-snipet" style="display: none;"> <div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
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Snippet for carla.TrafficLight.set_state Snippet for carla.TrafficLight.set_state
@ -4566,37 +4460,77 @@ if vehicle_actor.is_at_traffic_light():
</div> </div>
<div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;"> <div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
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Snippet for carla.ActorBlueprint.set_attribute Snippet for carla.Vehicle.set_wheel_steer_direction
</p> </p>
<div id="carla.ActorBlueprint.set_attribute-code" class="SnipetContent"> <div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
```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)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Vehicle.set_wheel_steer_direction-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div>
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.DebugHelper.draw_box
</p>
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
```py ```py
# This recipe changes attributes of different type of blueprint actors. # This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
# ... # ....
walker_bp = world.get_blueprint_library().filter('walker.pedestrian.0002') debug = world.debug
walker_bp.set_attribute('is_invincible', True) world_snapshot = world.get_snapshot()
# ...
# 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)
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)
# ... # ...
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)
# ...
``` ```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.ActorBlueprint.set_attribute-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br> <button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
</div>
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.WalkerAIController.stop
</p>
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
```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])
```
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</div> </div>
@ -4673,31 +4607,103 @@ for i in range(0, len(all_actors), 2):
</div> </div>
<div id ="carla.World.load_map_layer-snipet" style="display: none;"> <div id ="carla.World.enable_environment_objects-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snippet for carla.World.load_map_layer Snippet for carla.World.enable_environment_objects
</p> </p>
<div id="carla.World.load_map_layer-code" class="SnipetContent"> <div id="carla.World.enable_environment_objects-code" class="SnipetContent">
```py ```py
# This recipe toggles on several layers in our "_Opt" maps # This recipe turn visibility off and on for two specifc buildings on the map
# Load town one with only minimum layout (roads, sidewalks, traffic lights and traffic signs) # Get the buildings in the world
world = client.load_world('Town01_Opt', carla.MapLayer.None) world = client.get_world()
env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
# Toggle all buildings on # Access individual building IDs and save in a set
world.load_map_layer(carla.MapLayer.Buildings) building_01 = env_objs[0]
building_02 = env_objs[1]
objects_to_toggle = {building_01.id, building_02.id}
# Toggle all foliage on # Toggle buildings off
world.load_map_layer(carla.MapLayer.Foliage) world.enable_environment_objects(objects_to_toggle, False)
# Toggle buildings on
# Toggle all parked vehicles on world.enable_environment_objects(objects_to_toggle, True)
world.load_map_layer(carla.MapLayer.ParkedVehicles)
``` ```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.load_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br> <button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.enable_environment_objects-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div>
<div id ="carla.Client.__init__-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.Client.__init__
</p>
<div id="carla.Client.__init__-code" class="SnipetContent">
```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)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Client.__init__-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div>
<div id ="carla.World.spawn_actor-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.spawn_actor
</p>
<div id="carla.World.spawn_actor-code" class="SnipetContent">
```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)
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.spawn_actor-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div> </div>
@ -4737,4 +4743,4 @@ for (let i = 0; i < buttons.length; i++) {
buttons[i].addEventListener("click",function(){ButtonAction(buttons[i].id);},true); buttons[i].addEventListener("click",function(){ButtonAction(buttons[i].id);},true);
} }
window.onresize = WindowResize; window.onresize = WindowResize;
</script> </script>

2
Docs/start_introduction.md
View File

@ -6,7 +6,7 @@
This document refers to the latest version of CARLA. For documentation of previous versions, select the required version in the bottom right hand corner where you see this button: ![docs_version_panel](img/docs_version_panel.jpg) This document refers to the latest version of CARLA. For documentation of previous versions, select the required version in the bottom right hand corner where you see this button: ![docs_version_panel](img/docs_version_panel.jpg)
CARLA is an open-source autonomous driving simulator. It was built from scratch to serve as a modular and flexible API to address a range of tasks involved in the problem of autonomous driving. One of the main goals of CARLA is to help democratize autonomous driving R&D, serving as a tool that can be easily accessed and customized by users. To do so, the simulator has to meet the requirements of different use cases within the general problem of driving (e.g. learning driving policies, training perception algorithms, etc.). CARLA is grounded on Unreal Engine to run the simulation and uses the OpenDRIVE standard (1.4 as today) to define roads and urban settings. Control over the simulation is granted through an API handled in Python and C++ that is constantly growing as the project does. CARLA is an open-source autonomous driving simulator. It was built from scratch to serve as a modular and flexible API to address a range of tasks involved in the problem of autonomous driving. One of the main goals of CARLA is to help democratize autonomous driving R&D, serving as a tool that can be easily accessed and customized by users. To do so, the simulator has to meet the requirements of different use cases within the general problem of driving (e.g. learning driving policies, training perception algorithms, etc.). CARLA is grounded on Unreal Engine to run the simulation and uses the ASAM OpenDRIVE standard (1.4 as today) to define roads and urban settings. Control over the simulation is granted through an API handled in Python and C++ that is constantly growing as the project does.
In order to smooth the process of developing, training and validating driving systems, CARLA evolved to become an ecosystem of projects, built around the main platform by the community. In this context, it is important to understand some things about how does CARLA work, so as to fully comprehend its capabilities. In order to smooth the process of developing, training and validating driving systems, CARLA evolved to become an ecosystem of projects, built around the main platform by the community. In this context, it is important to understand some things about how does CARLA work, so as to fully comprehend its capabilities.

4
PythonAPI/docs/client.yml
View File

@ -65,7 +65,7 @@
- param_name: opendrive - param_name: opendrive
type: str type: str
doc: > doc: >
Content of an OpenDRIVE file as `string`, __not the path to the `.xodr`__. Content of an ASAM OpenDRIVE file as `string`, __not the path to the `.xodr`__.
- param_name: parameters - param_name: parameters
type: carla.OpendriveGenerationParameters type: carla.OpendriveGenerationParameters
default: (2.0, 50.0, 1.0, 0.6, true, true) default: (2.0, 50.0, 1.0, 0.6, true, true)
@ -732,7 +732,7 @@
- class_name: OpendriveGenerationParameters - class_name: OpendriveGenerationParameters
# - DESCRIPTION ------------------------ # - DESCRIPTION ------------------------
doc: > doc: >
This class defines the parameters used when generating a world using an OpenDRIVE file. This class defines the parameters used when generating a world using an ASAM OpenDRIVE file.
# - PROPERTIES ------------------------- # - PROPERTIES -------------------------
instance_variables: instance_variables:
- var_name: vertex_distance - var_name: vertex_distance

2
README.md
View File

@ -54,7 +54,7 @@ Repositories associated with the CARLA simulation platform:
* [**Conditional Imitation-Learning**](https://github.com/felipecode/coiltraine): Training and testing Conditional Imitation Learning models in CARLA * [**Conditional Imitation-Learning**](https://github.com/felipecode/coiltraine): Training and testing Conditional Imitation Learning models in CARLA
* [**AutoWare AV stack**](https://github.com/carla-simulator/carla-autoware): Bridge to connect AutoWare AV stack to CARLA * [**AutoWare AV stack**](https://github.com/carla-simulator/carla-autoware): Bridge to connect AutoWare AV stack to CARLA
* [**Reinforcement-Learning**](https://github.com/carla-simulator/reinforcement-learning): Code for running Conditional Reinforcement Learning models in CARLA * [**Reinforcement-Learning**](https://github.com/carla-simulator/reinforcement-learning): Code for running Conditional Reinforcement Learning models in CARLA
* [**RoadRunner**](https://www.mathworks.com/products/roadrunner.html): MATLAB GUI based application to create road networks in OpenDrive format * [**RoadRunner**](https://www.mathworks.com/products/roadrunner.html): MATLAB GUI based application to create road networks in the ASAM OpenDRIVE format
* [**Map Editor**](https://github.com/carla-simulator/carla-map-editor): Standalone GUI application to enhance RoadRunner maps with traffic lights and traffic signs information * [**Map Editor**](https://github.com/carla-simulator/carla-map-editor): Standalone GUI application to enhance RoadRunner maps with traffic lights and traffic signs information

2
mkdocs.yml
View File

@ -42,7 +42,7 @@ nav:
- 'Chrono': 'tuto_G_chrono.md' - 'Chrono': 'tuto_G_chrono.md'
- 'MathWorks': 'large_map_roadrunner.md' - 'MathWorks': 'large_map_roadrunner.md'
- 'NVIDIA SimReady': 'ecosys_simready.md' - 'NVIDIA SimReady': 'ecosys_simready.md'
- 'OpenDRIVE': 'adv_opendrive.md' - 'ASAM OpenDRIVE': 'adv_opendrive.md'
- 'PTV Vissim': 'adv_ptv.md' - 'PTV Vissim': 'adv_ptv.md'
- 'RSS': 'adv_rss.md' - 'RSS': 'adv_rss.md'
- 'ROS': https://carla.readthedocs.io/projects/ros-bridge/en/latest/ - 'ROS': https://carla.readthedocs.io/projects/ros-bridge/en/latest/