127 lines
3.6 KiB
Python
Executable File
127 lines
3.6 KiB
Python
Executable File
#!/usr/bin/env python
|
|
|
|
# Copyright (c) 2017 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 <https://opensource.org/licenses/MIT>.
|
|
|
|
"""Spawn NPCs into the simulation"""
|
|
|
|
import glob
|
|
import os
|
|
import sys
|
|
|
|
try:
|
|
sys.path.append(glob.glob('**/*%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
|
|
|
|
import carla
|
|
|
|
import argparse
|
|
import random
|
|
import time
|
|
|
|
|
|
def main():
|
|
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(
|
|
'-n', '--number-of-vehicles',
|
|
metavar='N',
|
|
default=10,
|
|
type=int,
|
|
help='number of vehicles (default: 10)')
|
|
argparser.add_argument(
|
|
'-d', '--delay',
|
|
metavar='D',
|
|
default=2.0,
|
|
type=float,
|
|
help='delay in seconds between spawns (default: 2.0)')
|
|
argparser.add_argument(
|
|
'--safe',
|
|
action='store_true',
|
|
help='avoid spawning vehicles prone to accidents')
|
|
args = argparser.parse_args()
|
|
|
|
actor_list = []
|
|
client = carla.Client(args.host, args.port)
|
|
client.set_timeout(2.0)
|
|
|
|
try:
|
|
|
|
world = client.get_world()
|
|
blueprints = world.get_blueprint_library().filter('vehicle.*')
|
|
|
|
if args.safe:
|
|
blueprints = [x for x in blueprints if int(x.get_attribute('number_of_wheels')) == 4]
|
|
blueprints = [x for x in blueprints if not x.id.endswith('isetta')]
|
|
|
|
def try_spawn_random_vehicle_at(transform):
|
|
blueprint = random.choice(blueprints)
|
|
if blueprint.has_attribute('color'):
|
|
color = random.choice(blueprint.get_attribute('color').recommended_values)
|
|
blueprint.set_attribute('color', color)
|
|
blueprint.set_attribute('role_name', 'autopilot')
|
|
vehicle = world.try_spawn_actor(blueprint, transform)
|
|
if vehicle is not None:
|
|
actor_list.append(vehicle)
|
|
vehicle.set_autopilot()
|
|
print('spawned %r at %s' % (vehicle.type_id, transform.location))
|
|
return True
|
|
return False
|
|
|
|
# @todo Needs to be converted to list to be shuffled.
|
|
spawn_points = list(world.get_map().get_spawn_points())
|
|
random.shuffle(spawn_points)
|
|
|
|
print('found %d spawn points.' % len(spawn_points))
|
|
|
|
count = args.number_of_vehicles
|
|
|
|
for spawn_point in spawn_points:
|
|
if try_spawn_random_vehicle_at(spawn_point):
|
|
count -= 1
|
|
if count <= 0:
|
|
break
|
|
|
|
while count > 0:
|
|
time.sleep(args.delay)
|
|
if try_spawn_random_vehicle_at(random.choice(spawn_points)):
|
|
count -= 1
|
|
|
|
print('spawned %d vehicles, press Ctrl+C to exit.' % args.number_of_vehicles)
|
|
|
|
while True:
|
|
time.sleep(10)
|
|
|
|
finally:
|
|
|
|
print('\ndestroying %d actors' % len(actor_list))
|
|
client.apply_batch([carla.command.DestroyActor(x.id) for x in actor_list])
|
|
|
|
|
|
if __name__ == '__main__':
|
|
|
|
try:
|
|
main()
|
|
except KeyboardInterrupt:
|
|
pass
|
|
finally:
|
|
print('\ndone.')
|