Justin Newberry
2 years ago
committed by
GitHub
parent
9807bd99db
commit
11ec5bf25e
14 changed files with 31 additions and 360 deletions
@ -1,22 +0,0 @@ |
||||
from openpilot.tools.sim.bridge.common import SimulatorBridge |
||||
from openpilot.tools.sim.bridge.carla.carla_world import CarlaWorld |
||||
|
||||
|
||||
class CarlaBridge(SimulatorBridge): |
||||
TICKS_PER_FRAME = 5 |
||||
|
||||
def __init__(self, arguments): |
||||
super().__init__(arguments) |
||||
self.host = arguments.host |
||||
self.port = arguments.port |
||||
self.town = arguments.town |
||||
self.num_selected_spawn_point = arguments.num_selected_spawn_point |
||||
|
||||
def spawn_world(self): |
||||
import carla |
||||
|
||||
client = carla.Client(self.host, self.port) |
||||
client.set_timeout(5) |
||||
|
||||
return CarlaWorld(client, high_quality=self.high_quality, dual_camera=self.dual_camera, |
||||
num_selected_spawn_point=self.num_selected_spawn_point, town=self.town) |
||||
@ -1,145 +0,0 @@ |
||||
import numpy as np |
||||
|
||||
from openpilot.common.params import Params |
||||
from openpilot.tools.sim.lib.common import SimulatorState, vec3 |
||||
from openpilot.tools.sim.bridge.common import World |
||||
from openpilot.tools.sim.lib.camerad import W, H |
||||
|
||||
|
||||
class CarlaWorld(World): |
||||
def __init__(self, client, high_quality, dual_camera, num_selected_spawn_point, town): |
||||
super().__init__(dual_camera) |
||||
import carla |
||||
|
||||
low_quality_layers = carla.MapLayer(carla.MapLayer.Ground | carla.MapLayer.Walls | carla.MapLayer.Decals) |
||||
|
||||
layers = carla.MapLayer.All if high_quality else low_quality_layers |
||||
|
||||
world = client.load_world(town, map_layers=layers) |
||||
|
||||
settings = world.get_settings() |
||||
settings.fixed_delta_seconds = 0.01 |
||||
world.apply_settings(settings) |
||||
|
||||
world.set_weather(carla.WeatherParameters.ClearSunset) |
||||
|
||||
self.world = world |
||||
world_map = world.get_map() |
||||
|
||||
blueprint_library = world.get_blueprint_library() |
||||
|
||||
vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1] |
||||
vehicle_bp.set_attribute('role_name', 'hero') |
||||
spawn_points = world_map.get_spawn_points() |
||||
assert len(spawn_points) > num_selected_spawn_point, \ |
||||
f'''No spawn point {num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.''' |
||||
self.spawn_point = spawn_points[num_selected_spawn_point] |
||||
self.vehicle = world.spawn_actor(vehicle_bp, self.spawn_point) |
||||
|
||||
physics_control = self.vehicle.get_physics_control() |
||||
physics_control.mass = 2326 |
||||
physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]] |
||||
physics_control.gear_switch_time = 0.0 |
||||
self.vehicle.apply_physics_control(physics_control) |
||||
|
||||
self.vc: carla.VehicleControl = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False) |
||||
self.max_steer_angle: float = self.vehicle.get_physics_control().wheels[0].max_steer_angle |
||||
self.params = Params() |
||||
|
||||
self.steer_ratio = 15 |
||||
|
||||
self.carla_objects = [] |
||||
|
||||
transform = carla.Transform(carla.Location(x=0.8, z=1.13)) |
||||
|
||||
def create_camera(fov, callback): |
||||
blueprint = blueprint_library.find('sensor.camera.rgb') |
||||
blueprint.set_attribute('image_size_x', str(W)) |
||||
blueprint.set_attribute('image_size_y', str(H)) |
||||
blueprint.set_attribute('fov', str(fov)) |
||||
blueprint.set_attribute('sensor_tick', str(1/20)) |
||||
if not high_quality: |
||||
blueprint.set_attribute('enable_postprocess_effects', 'False') |
||||
camera = world.spawn_actor(blueprint, transform, attach_to=self.vehicle) |
||||
camera.listen(callback) |
||||
return camera |
||||
|
||||
self.road_camera = create_camera(fov=40, callback=self.cam_callback_road) |
||||
if dual_camera: |
||||
self.road_wide_camera = create_camera(fov=120, callback=self.cam_callback_wide_road) # fov bigger than 120 shows unwanted artifacts |
||||
else: |
||||
self.road_wide_camera = None |
||||
|
||||
# re-enable IMU |
||||
imu_bp = blueprint_library.find('sensor.other.imu') |
||||
imu_bp.set_attribute('sensor_tick', '0.01') |
||||
self.imu = world.spawn_actor(imu_bp, transform, attach_to=self.vehicle) |
||||
|
||||
gps_bp = blueprint_library.find('sensor.other.gnss') |
||||
self.gps = world.spawn_actor(gps_bp, transform, attach_to=self.vehicle) |
||||
self.params.put_bool("UbloxAvailable", True) |
||||
|
||||
self.carla_objects = [self.imu, self.gps, self.road_camera, self.road_wide_camera, self.vehicle] |
||||
|
||||
def close(self): |
||||
for s in self.carla_objects: |
||||
if s is not None: |
||||
try: |
||||
s.destroy() |
||||
except Exception as e: |
||||
print("Failed to destroy carla object", e) |
||||
|
||||
def carla_image_to_rgb(self, image): |
||||
rgb = np.frombuffer(image.raw_data, dtype=np.dtype("uint8")) |
||||
rgb = np.reshape(rgb, (H, W, 4)) |
||||
return np.ascontiguousarray(rgb[:, :, [0, 1, 2]]) |
||||
|
||||
def cam_callback_road(self, image): |
||||
with self.image_lock: |
||||
self.road_image = self.carla_image_to_rgb(image) |
||||
|
||||
def cam_callback_wide_road(self, image): |
||||
with self.image_lock: |
||||
self.wide_road_image = self.carla_image_to_rgb(image) |
||||
|
||||
def apply_controls(self, steer_angle, throttle_out, brake_out): |
||||
self.vc.throttle = throttle_out |
||||
|
||||
steer_carla = steer_angle * -1 / (self.max_steer_angle * self.steer_ratio) |
||||
steer_carla = np.clip(steer_carla, -1, 1) |
||||
|
||||
self.vc.steer = steer_carla |
||||
self.vc.brake = brake_out |
||||
self.vehicle.apply_control(self.vc) |
||||
|
||||
def read_sensors(self, simulator_state: SimulatorState): |
||||
simulator_state.imu.bearing = self.imu.get_transform().rotation.yaw |
||||
|
||||
simulator_state.imu.accelerometer = vec3( |
||||
self.imu.get_acceleration().x, |
||||
self.imu.get_acceleration().y, |
||||
self.imu.get_acceleration().z |
||||
) |
||||
|
||||
simulator_state.imu.gyroscope = vec3( |
||||
self.imu.get_angular_velocity().x, |
||||
self.imu.get_angular_velocity().y, |
||||
self.imu.get_angular_velocity().z |
||||
) |
||||
|
||||
simulator_state.gps.from_xy([self.vehicle.get_location().x, self.vehicle.get_location().y]) |
||||
|
||||
simulator_state.velocity = self.vehicle.get_velocity() |
||||
simulator_state.valid = True |
||||
simulator_state.steering_angle = self.vc.steer * self.max_steer_angle |
||||
|
||||
def read_cameras(self): |
||||
pass # cameras are read within a callback for carla |
||||
|
||||
def tick(self): |
||||
self.world.tick() |
||||
|
||||
def reset(self): |
||||
import carla |
||||
self.vehicle.set_transform(self.spawn_point) |
||||
self.vehicle.set_target_velocity(carla.Vector3D()) |
||||
@ -1,34 +0,0 @@ |
||||
#!/bin/bash |
||||
|
||||
# Requires nvidia docker - https://github.com/NVIDIA/nvidia-docker |
||||
if ! $(apt list --installed | grep -q nvidia-container-toolkit); then |
||||
read -p "Nvidia docker is required. Do you want to install it now? (y/n)"; |
||||
if [ "${REPLY}" == "y" ]; then |
||||
distribution=$(. /etc/os-release;echo $ID$VERSION_ID) |
||||
echo $distribution |
||||
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - |
||||
curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list |
||||
sudo apt-get update && sudo apt-get install -y nvidia-docker2 # Also installs docker-ce and nvidia-container-toolkit |
||||
sudo systemctl restart docker |
||||
else |
||||
exit 0 |
||||
fi |
||||
fi |
||||
|
||||
docker pull carlasim/carla:0.9.14 |
||||
|
||||
EXTRA_ARGS="-it" |
||||
if [[ "$DETACH" ]]; then |
||||
EXTRA_ARGS="-d" |
||||
fi |
||||
|
||||
docker kill carla_sim || true |
||||
docker run \ |
||||
--name carla_sim \ |
||||
--rm \ |
||||
--gpus all \ |
||||
--net=host \ |
||||
-v /tmp/.X11-unix:/tmp/.X11-unix:rw \ |
||||
$EXTRA_ARGS \ |
||||
carlasim/carla:0.9.14 \ |
||||
/bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low |
||||
@ -1,45 +0,0 @@ |
||||
#!/usr/bin/env python3 |
||||
import subprocess |
||||
import time |
||||
import unittest |
||||
from subprocess import Popen |
||||
|
||||
from openpilot.selfdrive.manager.helpers import unblock_stdout |
||||
from openpilot.tools.sim.run_bridge import parse_args |
||||
from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge |
||||
from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase |
||||
|
||||
from typing import Optional |
||||
|
||||
class TestCarlaBridge(TestSimBridgeBase): |
||||
""" |
||||
Tests need Carla simulator to run |
||||
""" |
||||
carla_process: Optional[Popen] = None |
||||
|
||||
def setUp(self): |
||||
super().setUp() |
||||
|
||||
# We want to make sure that carla_sim docker isn't still running. |
||||
subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False) |
||||
self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR) |
||||
|
||||
# Too many lagging messages in bridge.py can cause a crash. This prevents it. |
||||
unblock_stdout() |
||||
# Wait 10 seconds to startup carla |
||||
time.sleep(10) |
||||
|
||||
def create_bridge(self): |
||||
return CarlaBridge(parse_args([])) |
||||
|
||||
def tearDown(self): |
||||
super().tearDown() |
||||
|
||||
# Stop carla simulator by removing docker container |
||||
subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False) |
||||
if self.carla_process is not None: |
||||
self.carla_process.wait() |
||||
|
||||
|
||||
if __name__ == "__main__": |
||||
unittest.main() |
||||
@ -1,6 +0,0 @@ |
||||
#!/bin/bash |
||||
tmux new -d -s carla-sim |
||||
tmux send-keys "./launch_openpilot.sh" ENTER |
||||
tmux neww |
||||
tmux send-keys "./run_bridge.py $*" ENTER |
||||
tmux a -t carla-sim |
||||
Loading…
Reference in new issue