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