From 70e2e78f526d5850e38e247a1e3ccdcc9bcdcf8e Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sun, 28 Nov 2021 11:32:37 +0100 Subject: [PATCH] sim: improve carla performance (#23046) old-commit-hash: a4ca8e4835949f5f8a5d6123142f9ffcb7e36245 --- tools/sim/bridge.py | 12 +++++++++++- tools/sim/start_carla.sh | 2 +- 2 files changed, 12 insertions(+), 2 deletions(-) diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index ed129db6ee..dc948d0fd5 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -221,13 +221,20 @@ def bridge(q): client.set_timeout(10.0) world = client.load_world(args.town) + settings = world.get_settings() + settings.synchronous_mode = True # Enables synchronous mode + settings.fixed_delta_seconds = 0.05 + world.apply_settings(settings) + + world.set_weather(carla.WeatherParameters.ClearSunset) + if args.low_quality: world.unload_map_layer(carla.MapLayer.Foliage) world.unload_map_layer(carla.MapLayer.Buildings) world.unload_map_layer(carla.MapLayer.ParkedVehicles) - world.unload_map_layer(carla.MapLayer.Particles) world.unload_map_layer(carla.MapLayer.Props) world.unload_map_layer(carla.MapLayer.StreetLights) + world.unload_map_layer(carla.MapLayer.Particles) blueprint_library = world.get_blueprint_library() @@ -414,6 +421,9 @@ def bridge(q): if rk.frame % PRINT_DECIMATION == 0: print("frame: ", "engaged:", is_openpilot_engaged, "; throttle: ", round(vc.throttle, 3), "; steer(c/deg): ", round(vc.steer, 3), round(steer_out, 3), "; brake: ", round(vc.brake, 3)) + if rk.frame % 5 == 0: + world.tick() + rk.keep_time() # Clean up resources in the opposite order they were created. diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh index df6e2a3fa3..6418dacaee 100755 --- a/tools/sim/start_carla.sh +++ b/tools/sim/start_carla.sh @@ -24,4 +24,4 @@ docker run \ -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ -it \ carlasim/carla:0.9.12 \ - /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -quality-level=Epic + /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=High