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@ -7,20 +7,49 @@ from openpilot.tools.sim.lib.camerad import W, H |
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class CarlaWorld(World): |
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def __init__(self, world, vehicle, high_quality=False, dual_camera=False): |
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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.vehicle = vehicle |
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self.max_steer_angle: float = vehicle.get_physics_control().wheels[0].max_steer_angle |
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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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blueprint_library = self.world.get_blueprint_library() |
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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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@ -31,7 +60,7 @@ class CarlaWorld(World): |
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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=vehicle) |
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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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@ -44,13 +73,13 @@ class CarlaWorld(World): |
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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=vehicle) |
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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=vehicle) |
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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] |
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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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@ -110,6 +139,12 @@ class CarlaWorld(World): |
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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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class CarlaBridge(SimulatorBridge): |
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TICKS_PER_FRAME = 5 |
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@ -126,38 +161,5 @@ class CarlaBridge(SimulatorBridge): |
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client = carla.Client(self.host, self.port) |
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client.set_timeout(5) |
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world = client.load_world(self.town) |
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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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if not self.high_quality: |
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world.unload_map_layer(carla.MapLayer.Foliage) |
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world.unload_map_layer(carla.MapLayer.Buildings) |
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world.unload_map_layer(carla.MapLayer.ParkedVehicles) |
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world.unload_map_layer(carla.MapLayer.Props) |
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world.unload_map_layer(carla.MapLayer.StreetLights) |
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world.unload_map_layer(carla.MapLayer.Particles) |
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blueprint_library = world.get_blueprint_library() |
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world_map = world.get_map() |
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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) > self.num_selected_spawn_point, \ |
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f'''No spawn point {self.num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.''' |
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spawn_point = spawn_points[self.num_selected_spawn_point] |
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vehicle = world.spawn_actor(vehicle_bp, spawn_point) |
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physics_control = 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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vehicle.apply_physics_control(physics_control) |
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return CarlaWorld(world, vehicle, dual_camera=self.dual_camera) |
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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) |
Shane Smiskol
2 years ago