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@ -53,7 +53,7 @@ __4. Motion Planner Stage:__ aggregates all the information from the previous st
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* __Related .cpp files:__ `MotionPlannerStage.cpp`.
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__5. Apply Control Stage:__ receives actuation signals, such as throttle, brake, steer, from the Motion Planner stage and sends these to the simulator in batches to control every vehicles' movement. Using the __apply_batch()__ method in [carla.Client](../python_api/#carla.Client) and different [carla.VehicleControl](../python_api/#carla.Client) for the registered vehicles.
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__5. Apply Control Stage:__ receives actuation signals, such as throttle, brake, steer, from the Motion Planner stage and sends these to the simulator in batches to control every vehicles' movement. Using the __apply_batch()__ method in [carla.Client](../python_api/#carla.Client) and different [carla.VehicleControl](../python_api/#carla.VehicleControl) for the registered vehicles.
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* __Related .cpp files:__ `BatchControlStage.cpp`.
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@ -1808,7 +1808,7 @@ Will return <b>None</b> if the lane does not exist.
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---
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## carla.WeatherParameters<a name="carla.WeatherParameters"></a>
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This class defines objects containing lightning and weather specifications that can later be applied in [carla.World](#carla.World). So far, these conditions only intervene with [sensor.camera.rgb](/bp_library/). They neither affect the actor's physics nor other sensors.
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This class defines objects containing lightning and weather specifications that can later be applied in [carla.World](#carla.World). So far, these conditions only intervene with [sensor.camera.rgb](ref_sensors.md#rgb-camera). They neither affect the actor's physics nor other sensors.
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Each of these parameters acts indepently from the rest. Increasing the rainfall will not automatically create puddles nor change the road's humidity. That makes for a better customization but means that realistic conditions need to be scripted. However an example of dynamic weather conditions working realistically can be found [here](https://github.com/carla-simulator/carla/blob/master/PythonAPI/examples/dynamic_weather.py).
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<h3>Instance Variables</h3>
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@ -1959,6 +1959,16 @@ Returns a list of actor blueprints available to ease the spawn of these into the
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- <a name="carla.World.get_map"></a>**<font color="#7fb800">get_map</font>**(<font color="#00a6ed">**self**</font>)
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Returns the object containing the navigation map used to describe this world.
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- **Return:** _[carla.Map](#carla.Map)_
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- <a name="carla.World.get_traffic_light"></a>**<font color="#7fb800">get_traffic_light</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**landmark**</font>)
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Provided a landmark, returns the traffic light object it describes.
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- **Parameters:**
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- `landmark` (_[carla.Landmark](#carla.Landmark)_) – The landmark object describing a traffic light.
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- **Return:** _[carla.TrafficLight](#carla.TrafficLight)_
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- <a name="carla.World.get_traffic_sign"></a>**<font color="#7fb800">get_traffic_sign</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**landmark**</font>)
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Provided a landmark, returns the traffic sign object it describes.
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- **Parameters:**
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- `landmark` (_[carla.Landmark](#carla.Landmark)_) – The landmark object describing a traffic sign.
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- **Return:** _[carla.TrafficSign](#carla.TrafficSign)_
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- <a name="carla.World.get_random_location_from_navigation"></a>**<font color="#7fb800">get_random_location_from_navigation</font>**(<font color="#00a6ed">**self**</font>)
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This can only be used with walkers. It retrieves a random location to be used as a destination using the **<font color="#7fb800">go_to_location()</font>** method in [carla.WalkerAIController](#carla.WalkerAIController). This location will be part of a sidewalk. Roads, crosswalks and grass zones are excluded. The method does not take into consideration locations of existing actors so if a collision happens when trying to spawn an actor, it will return an error. Take a look at [`spawn_npc.py`](https://github.com/carla-simulator/carla/blob/e73ad54d182e743b50690ca00f1709b08b16528c/PythonAPI/examples/spawn_npc.py#L179) for an example.
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- **Return:** _[carla.Location](#carla.Location)_
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@ -2265,6 +2275,6 @@ Identificator of the parent actor.
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- <a name="command.SpawnActor.then"></a>**<font color="#7fb800">then</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**command**</font>)
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Links another command to be executed right after. It allows to ease very common flows such as spawning a set of vehicles by command and then using this method to set them to autopilot automatically.
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- **Parameters:**
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- `command` (_[carla.Command](#carla.Command)_) – CommandType.
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- `command` (_any carla Command_) – a Carla command.
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---
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@ -4,8 +4,8 @@
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* [__Depth camera__](#depth-camera)
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* [__GNSS sensor__](#gnss-sensor)
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* [__IMU sensor__](#imu-sensor)
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* [__Lane invasion detector__](#lane-invasion-sensor)
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* [__Lidar raycast sensor__](#lidar-sensor)
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* [__Lane invasion detector__](#lane-invasion-detector)
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* [__Lidar raycast sensor__](#lidar-raycast-sensor)
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* [__Obstacle detector__](#obstacle-detector)
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* [__Radar sensor__](#radar-sensor)
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* [__RGB camera__](#rgb-camera)
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@ -203,7 +203,7 @@ There are two options in [carla.colorConverter](python_api.md#carla.ColorConvert
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## GNSS sensor
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* __Blueprint:__ sensor.other.gnss
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* __Output:__ [carla.GNSSMeasurement](python_api.md#carla.GNSSMeasurement) per step (unless `sensor_tick` says otherwise).
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* __Output:__ [carla.GNSSMeasurement](python_api.md#carla.GnssMeasurement) per step (unless `sensor_tick` says otherwise).
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Reports current [gnss position](https://www.gsa.europa.eu/european-gnss/what-gnss) of its parent object. This is calculated by adding the metric position to an initial geo reference location defined within the OpenDRIVE map definition.
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@ -910,7 +910,7 @@ Since these effects are provided by UE, please make sure to check their document
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<td><code>exposure_mode</code> </td>
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<td>str</td>
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<td><code>manual</code></td>
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<td>Can be <code>manual</code> or <code>histogram</code>. More in <a href="AutomaticExposure.gamesetting">UE4 docs</a>.</td>
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<td>Can be <code>manual</code> or <code>histogram</code>. More in <a href="https://docs.unrealengine.com/en-US/Engine/Rendering/PostProcessEffects/AutomaticExposure/index.html">UE4 docs</a>.</td>
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<tr>
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<td><code>exposure_compensation</code> </td>
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<td>float</td>
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@ -16,11 +16,11 @@ It is possible to modify the parameters in runtime via ROS dynamic reconfigure.
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<!---NODE-->
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<h4 style="margin-bottom: 5px"> <u>/carla_ackermann_control_ego_vehicle</u> <small><i>(Node)</i></small> </h4>
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Converts [AckermannDrive messages](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.htm) to [CarlaEgoVehicleControl.msg](ros_msgs.md#carlaegovehiclecontrolmsg). Speed is in __m/s__, steering angle in __radians__ and refers to driving angle, not wheel angle.
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Converts [AckermannDrive messages](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.html) to [CarlaEgoVehicleControl.msg](ros_msgs.md#carlaegovehiclecontrolmsg). Speed is in __m/s__, steering angle in __radians__ and refers to driving angle, not wheel angle.
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<p style="margin-bottom:-5px"> <b>Subscribed to:</b> </p>
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* <font color="f8815c"><b>/carla/ego_vehicle/ackermann_cmd</b></font> — [ackermann_msgs.AckermannDrive](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.htm)
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* <font color="f8815c"><b>/carla/ego_vehicle/ackermann_cmd</b></font> — [ackermann_msgs.AckermannDrive](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.html)
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* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_info</b></font> — [carla_msgs.CarlaEgoVehicleInfo](ros_msgs.md#carlaegovehicleinfomsg)
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* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](ros_msgs.md#carlaegovehiclestatusmsg)
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@ -50,7 +50,7 @@ Spawns an ego vehicle with sensors attached, and waits for world information.
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---
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## carla_example_ego_vehicle.launch
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Based on [carla_ego_vehicle.launch](#carla-ego-vehicle-launch), spawns an ego vehicle (`role-name="ego_vehicle"`). The file `sensors.json` describes the sensors attached. The path to it depends on the bridge installation.
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Based on carla_ego_vehicle.launch, spawns an ego vehicle (`role-name="ego_vehicle"`). The file `sensors.json` describes the sensors attached. The path to it depends on the bridge installation.
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* __Deb repository installation__,
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`/opt/carla-ros-bridge/melodic/share/carla_ego_vehicle/config/sensors.json`.
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@ -101,7 +101,7 @@ Publishes the data regarding the current state of the simulation. Reads the debu
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---
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## carla_ros_bridge_with_ackermann_control.launch
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Launches two basic nodes. One retrieves simulation data, the other controls a vehicle using [AckermannDrive messages](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.htm).
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Launches two basic nodes. One retrieves simulation data, the other controls a vehicle using [AckermannDrive messages](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.html).
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<!---NODE-->
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<h4 style="margin-bottom: 5px"> <u>carla_ros_bridge</u> <small><i>(Node)</i></small> </h4>
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@ -121,11 +121,11 @@ Publishes data regarding the current state of the simulation. Reads the debug sh
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<!---NODE-->
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<h4 style="margin-bottom: 5px"> <u>/carla_ackermann_control_ego_vehicle</u> <small><i>(Node)</i></small> </h4>
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Converts [AckermannDrive messages](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.htm) to [CarlaEgoVehicleControl.msg](ros_msgs.md#carlaegovehiclemsg). Speed is in __m/s__, steering angle is in __radians__ and refers to driving angle, not wheel angle.
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Converts [AckermannDrive messages](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.html) to [CarlaEgoVehicleControl.msg](ros_msgs.md#carlaegovehiclemsg). Speed is in __m/s__, steering angle is in __radians__ and refers to driving angle, not wheel angle.
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<p style="margin-bottom:-5px"> <b>Subscribed to:</b> </p>
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* <font color="f8815c"><b>/carla/ego_vehicle/ackermann_cmd</b></font> — [ackermann_msgs.AckermannDrive](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.htm)
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* <font color="f8815c"><b>/carla/ego_vehicle/ackermann_cmd</b></font> — [ackermann_msgs.AckermannDrive](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.html)
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* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_info</b></font> — [carla_msgs.CarlaEgoVehicleInfo](ros_msgs.md#carlaegovehicleinfomsg)
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* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](ros_msgs.md#carlaegovehiclestatusmsg)
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@ -63,7 +63,7 @@ The requirements are simpler than those for the build installation.
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* __Server side.__ A 4GB minimum GPU will be needed to run a highly realistic environment. A dedicated GPU is highly advised for machine learning.
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* __Client side.__ [Python](https://www.python.org/downloads/) is necessary to access the API via command line. Also, a good internet connection and two TCP ports (2000 and 2001 by default).
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* __System requirements.__ Any 64-bits OS should run CARLA.
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* __Other requirements.__ Two Python modules: [Pygame](https://www.pygame.org/download.shtml) to create graphics directly with Python, and [Numpy](https://pypi.org/project/numpy/) for great calculus.
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* __Other requirements.__ Two Python modules: [Pygame](https://pypi.org/project/pygame/) to create graphics directly with Python, and [Numpy](https://pypi.org/project/numpy/) for great calculus.
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To install both modules using [pip](https://pip.pypa.io/en/stable/installing/), run the following commands.
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```sh
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@ -63,9 +63,9 @@
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- def_name: then
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params:
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- param_name: command
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type: carla.Command
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type: any carla Command
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doc: >
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CommandType.
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a Carla command.
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doc: >
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Links another command to be executed right after. It allows to ease very common flows such as spawning a set of vehicles by command and then using this method to set them to autopilot automatically.
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# --------------------------------------
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@ -6,7 +6,7 @@
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- class_name: WeatherParameters
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# - DESCRIPTION ------------------------
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doc: >
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This class defines objects containing lightning and weather specifications that can later be applied in carla.World. So far, these conditions only intervene with [sensor.camera.rgb](/bp_library/). They neither affect the actor's physics nor other sensors.
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This class defines objects containing lightning and weather specifications that can later be applied in carla.World. So far, these conditions only intervene with [sensor.camera.rgb](ref_sensors.md#rgb-camera). They neither affect the actor's physics nor other sensors.
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Each of these parameters acts indepently from the rest. Increasing the rainfall will not automatically create puddles nor change the road's humidity. That makes for a better customization but means that realistic conditions need to be scripted. However an example of dynamic weather conditions working realistically can be found [here](https://github.com/carla-simulator/carla/blob/master/PythonAPI/examples/dynamic_weather.py).
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# - PROPERTIES -------------------------
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instance_variables:
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@ -313,6 +313,26 @@
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doc: >
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Returns the object containing the navigation map used to describe this world.
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# --------------------------------------
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- def_name: get_traffic_light
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return: carla.TrafficLight
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params:
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- param_name: landmark
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type: carla.Landmark
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doc: >
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The landmark object describing a traffic light.
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doc: >
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Provided a landmark, returns the traffic light object it describes.
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# --------------------------------------
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- def_name: get_traffic_sign
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return: carla.TrafficSign
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params:
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- param_name: landmark
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type: carla.Landmark
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doc: >
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The landmark object describing a traffic sign.
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doc: >
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Provided a landmark, returns the traffic sign object it describes.
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# --------------------------------------
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- def_name: get_random_location_from_navigation
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return: carla.Location
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doc: >
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