From dbd5cd33417e03808541ff0213b59dcabe946517 Mon Sep 17 00:00:00 2001 From: wjxjmj Date: Wed, 12 Oct 2022 05:16:40 +0800 Subject: [PATCH] Add ip and port arguments to /tools/sim/bridge.py (#26011) * Add ip and port arguments * Add descriptions of ip and port arguments * Update README.md * Update README.md * prefer host/port options Co-authored-by: Cameron Clough old-commit-hash: dbdb3a02a8efb637275ef6d65fa0ab08b51d3b05 --- tools/sim/README.md | 2 ++ tools/sim/bridge.py | 8 +++++--- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/tools/sim/README.md b/tools/sim/README.md index cb1aea35ac..40603f3f71 100644 --- a/tools/sim/README.md +++ b/tools/sim/README.md @@ -39,6 +39,8 @@ Options: --high_quality Set simulator to higher quality (requires good GPU) --town TOWN Select map to drive in --spawn_point NUM Number of the spawn point to start in + --host HOST Host address of Carla client (127.0.0.1 as default) + --port PORT Port of Carla client (2000 as default) ``` To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed. diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index e436e92292..a105ed751e 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -39,6 +39,8 @@ def parse_args(add_args=None): parser.add_argument('--dual_camera', action='store_true') parser.add_argument('--town', type=str, default='Town04_Opt') parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16) + parser.add_argument('--host', dest='host', type=str, default='127.0.0.1') + parser.add_argument('--port', dest='port', type=int, default=2000) return parser.parse_args(add_args) @@ -233,8 +235,8 @@ def can_function_runner(vs: VehicleState, exit_event: threading.Event): i += 1 -def connect_carla_client(): - client = carla.Client("127.0.0.1", 2000) +def connect_carla_client(host: str, port: int): + client = carla.Client(host, port) client.set_timeout(5) return client @@ -291,7 +293,7 @@ class CarlaBridge: self.close() def _run(self, q: Queue): - client = connect_carla_client() + client = connect_carla_client(self._args.host, self._args.port) world = client.load_world(self._args.town) settings = world.get_settings()