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22 lines
724 B
22 lines
724 B
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) |