Carla 开源自动驾驶仿真软件使用指南 [AD simulator]

    python spawn_npc.py -n 80

    python dynamic_weather.py

    python manual_control.py

    client = carla.Client('localhost', 2000)

    client.set_timeout(10.0) # seconds

    world = client.get_world()

    blueprint_library = world.get_blueprint_library()

 # Find specific blueprint.

    
 collision_sensor_bp = blueprint_library.find('sensor.other.collision')
    
 # Chose a vehicle blueprint at random.
    
 vehicle_bp = random.choice(blueprint_library.filter('vehicle.bmw.*'))

 vehicles = blueprint_library.filter('vehicle.*')

    
 bikes = [x for x in vehicles if int(x.get_attribute('number_of_wheels')) == 2]
    
 for bike in bikes:
    
     bike.set_attribute('color', '255,0,0')

 for attr in blueprint:

    
     if attr.is_modifiable:
    
     blueprint.set_attribute(attr.id, random.choice(attr.recommended_values))

 transform = Transform(Location(x=230, y=195, z=40), Rotation(yaw=180))# 生成点坐标创建

    
 actor = world.spawn_actor(blueprint, transform) #这个时候会检查生成点坐标是否会发生碰撞。如果有碰撞，会报错

    spawn_points = world.get_map().get_spawn_points() #返回所有的可用collision-free points.

 camera = world.spawn_actor(camera_bp, relative_transform, attach_to=my_vehicle)

    
  
    
 # (附加参数，可以控制物体是否和其他的actor绑定）--适用于传感器

    import carla

 import glob

    
 import os
    
 import sys
    
 #import future
    
 #import pygame
    
 #添加系统变量
    
 try:
    
     sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
    
     sys.version_info.major,
    
     sys.version_info.minor,
    
     'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
    
 except IndexError:
    
     pass
    
  
    
 import carla
    
 import argparse
    
 import logging
    
 import random
    
  
    
 client=carla.Client('127.0.0.1',2000)
    
 print ('create client')
    
 client.set_timeout(2.0)
    
 world=client.get_world()
    
 print ('crated VR world')

 #!/usr/bin/env python

    
  
    
 # Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
    
 # Barcelona (UAB).
    
 #
    
 # This work is licensed under the terms of the MIT license.
    
 # For a copy, see <https://opensource.org/licenses/MIT>.
    
  
    
 """Spawn NPCs into the simulation"""
    
  
    
 import glob
    
 import os
    
 import sys
    
 #import future
    
 #import pygame
    
 #添加系统变量
    
 '''
    
 try 
    
 finally 函数体格式
    
   21. def 函数名（）：
    
 定义函数
    
 '''
    
 try:
    
     sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
    
     sys.version_info.major,
    
     sys.version_info.minor,
    
     'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
    
 except IndexError:
    
     pass
    
  
    
 import carla
    
 import argparse
    
 import logging
    
 import random
    
  
    
 def main():
    
     try:
    
     client=carla.Client('127.0.0.1',2000) #默认地址
    
     print ('create client')
    
     client.set_timeout(2.0)
    
     world=client.get_world()
    
     print ('crated VR world')
    
     
    
     bp_library = world.get_blueprint_library()
    
     '''
    
     #获得blueprints 库-API 如下
    
     #carla.BlueprintLibrary
    
     #find(id)
    
     #filter(wildcard_pattern)
    
     #__getitem__(pos)
    
     #__len__()
    
     #__iter__()
    
     '''
    
     
    
     bps=bp_library.filter('vehicle.*')
    
     
    
     '''
    
     #获得了所有车的属性集合--matrix
    
     #进一步筛选
    
     '''
    
     bps = [x for x in bps if int(x.get_attribute('number_of_wheels')) == 4]
    
     
    
     '''获得所有的2轮车'''
    
     bps = [x for x in bps if not x.id.endswith('isetta')]
    
     bps = [x for x in bps if not x.id.endswith('carlacola')]
    
     
    
     
    
     '''获得可用生成点'''
    
     spoints=world.get_map().get_spawn_points()
    
     number_of_spawn_points = len(spoints)
    
     
    
     print (number_of_spawn_points)
    
     
    
     batch=[]
    
     actor_list=[]
    
     
    
     i=0
    
     while i <10 :
    
         spoint=random.choice(spoints)
    
         bp=random.choice(bps)  
    
         actorlist=world.spawn_actor(bp,spoint).set_autopilot(enabled=True)
    
         batch.append(actorlist)
    
     # set_autopilot-- 设置这些车辆自动行驶
    
         i =i +1
    
     
    
     '''
    
     记录生成的actor 对象，
    
     提供摧毁他们的途径,下面的代码有问题，报错。TypeError: No registered converter was able to produce a C++ r
    
     '''
    
 ####       
    
     for response in client.apply_batch_sync(batch):
    
         if response.error:
    
             logging.error(response.error)
    
         else:        
    
             actor_list.append(response.actor_id)    
    
     print('spawned %d vehicles, press Ctrl+C to exit.' % len(actor_list))
    
 #        
    
     while True:
    
         world.wait_for_tick()
    
 #    
    
     finally:
    
 #    
    
         print('\ndestroying %d actors' % len(batch))
    
         client.apply_batch([carla.command.DestroyActor(x) for x in actor_list])
    
  
    
  ####     
    
   
    
 if __name__ == '__main__':
    
  
    
     try:
    
     main()
    
     except KeyboardInterrupt:
    
     pass
    
     finally:
    
     print('\ndone.')

 #显示位置，速度，加速度信息

    
 location = actor.get_location()
    
 location.z += 10.0
    
 actor.set_location(location)
    
 print(actor.get_acceleration())
    
 print(actor.get_velocity())

 #销毁目标--主页代码有问题

    
  
    
 carla.command.DestroyActor(actor)

 #操控车辆

    
 vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=-1.0))
    
  
    
 #全部的属性API：
    
 carla.VehicleControl(
    
     throttle = 0.0
    
     steer = 0.0
    
     brake = 0.0
    
     hand_brake = False
    
     reverse = False
    
     manual_gear_shift = False
    
     gear = 0)

 # 车辆的动力性特性--调整质量，力矩图，最大RPM

    
 vehicle.apply_physics_control(carla.VehiclePhysicsControl(max_rpm = 5000.0,
    
  center_of_mass = carla.Vector3D(0.0, 0.0, 0.0), torque_curve=[[0,400],[5000,400]]))

 #API 结构体定义

    
 carla.VehiclePhysicsControl(
    
     torque_curve,
    
     max_rpm,
    
     moi,
    
     damping_rate_full_throttle,
    
     damping_rate_zero_throttle_clutch_engaged,
    
     damping_rate_zero_throttle_clutch_disengaged,
    
     use_gear_autobox,
    
     gear_switch_time,
    
     clutch_strength,
    
     mass,
    
     drag_coefficient,
    
     center_of_mass,
    
     steering_curve, # 转向maximum steering for a specific forward speed
    
     wheels)

 #轮胎的特性API 定义

    
  
    
 carla.WheelPhysicsControl(
    
     tire_friction,
    
     damping_rate,
    
     steer_angle,
    
     disable_steering)

 #actor 自动驾驶

    
 vehicle.set_autopilot(True)

 #获得车辆的bounding box

    
 box = vehicle.bounding_box
    
 print(box.location)         # Location relative to the vehicle.
    
 print(box.extent)           # XYZ half-box extents in meters.

 camera_bp = blueprint_library.find('sensor.camera.rgb')

    
 #relative_transform 如何定义--应该是个R|t matrix.
    
 camera = world.spawn_actor(camera_bp, relative_transform, attach_to=my_vehicle)
    
  
    
 #把传感器的数据存到本地
    
 camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame_number))

    actor_list = world.get_actors()

 # Find an actor by id.

    
 actor = actor_list.find(id)
    
 # Print the location of all the speed limit signs in the world.
    
 for speed_sign in actor_list.filter('traffic.speed_limit.*'):
    
     print(speed_sign.get_location())

        1. carla.WeatherParameters

    
        2. cloudyness
    
        3. precipitation
    
        4. precipitation_deposits
    
        5. wind_intensity
    
        6. sun_azimuth_angle
    
        7. sun_altitude_angle
    
        8. __eq__(other)
    
        9. __ne__(other)

 import carla

    
 #import random
    
 client=carla.Client('127.0.0.1',2000) #默认地址
    
 print ('create client')
    
 client.set_timeout(2.0)
    
 world=client.get_world()
    
 print ('crated VR world')
    
  
    
 map=world.get_map()
    
 print ('map name--',map.name)
    
 sps=map.get_spawn_points()
    
 print (' map first avaliable spawn points--',sps[0])

    waypoint = map.get_waypoint(vehicle.get_location())

 # Retrieve the closest waypoint.

    
 waypoint = map.get_waypoint(vehicle.get_location())
    
  
    
 # Disable physics, in this example we're just teleporting the vehicle.
    
 vehicle.set_simulate_physics(False)
    
  
    
 while True:
    
     # Find next waypoint 2 meters ahead.
    
     waypoint = random.choice(waypoint.next(2.0))
    
     # Teleport the vehicle.
    
     vehicle.set_transform(waypoint.transform)

    waypoint_list = map.generate_waypoints(2.0)

    waypoint_tuple_list = map.get_topology()

 client.start_recorder("recording01.log")

    
  
    
 #to stop- 其它的API ，参数定义，使用时再深入
    
 client.stop_recorder()
    
 client.replay_file("recording01.log")
    
 client.replay_file("recording01.log", start, duration, camera)
    
 client.set_replayer_time_factor(2.0) #快进，快退
    
 client.show_recorder_file_info("recording01.log")

 Sample PY scripts to use with the recording / replaying system

    
 There are some scripts you could use:
    
  
    
 start_recording.py: this will start recording, and optionally you can spawn several actors and define how much time you want to record.
    
 -f: filename of write
    
 -n: vehicles to spawn (optional, 10 by default)
    
 -t: duration of the recording (optional)
    
 start_replaying.py: this will start a replay of a file. We can define the starting time, duration and also an actor to follow.
    
 -f: filename of write
    
 -s: starting time (optional, by default from start)
    
 -d: duration (optional, by default all)
    
 -c: actor to follow (id) (optional)
    
 show_recorder_collisions.py: this will show all the collisions hapenned while recording (currently only involved by hero actors).
    
 -f: filename of write
    
 -t: two letters definning the types of the actors involved, for example: -t aa
    
 h = Hero
    
 v = Vehicle
    
 w = Walker
    
 t = Traffic light
    
 o = Other
    
 a = Any
    
 show_recorder_actors_blocked.py: this will show all the actors that are blocked (stopped) in the recorder. We can define the time and distance to be considered as blocked.
    
 -f: filename of write
    
 -t: minimum seconds stopped to be considered as blocked (optional)
    
 -d: minimum distance to be considered stopped (optional)

 $ ./CarlaUE4.sh -benchmark -fps=10

    
  
    
 window:
    
 .\CarlaUE4.exe -benchmark -fps=10

  Linux

    
 ./CarlaUE4.sh /Game/Carla/Maps/Town01

 rem Windows

    
 .\CarlaUE4.exe /Game/Carla/Maps/Town05

 # Example: Synchronizing a camera with synchronous mode.

    
  
    
 settings = world.get_settings()
    
 settings.synchronous_mode = True
    
 world.apply_settings(settings)
    
  
    
 camera = world.spawn_actor(blueprint, transform)
    
 image_queue = queue.Queue()
    
 camera.listen(image_queue.put)
    
  
    
 while True:
    
     world.tick()
    
     timestamp = world.wait_for_tick()
    
  
    
     image = image_queue.get()

 # Find the blueprint of the sensor.

    
 blueprint = world.get_blueprint_library().find('sensor.camera.rgb')
    
 # Modify the attributes of the blueprint to set image resolution and field of view.
    
 blueprint.set_attribute('image_size_x', '1920')
    
 blueprint.set_attribute('image_size_y', '1080')
    
 blueprint.set_attribute('fov', '110')
    
 # Set the time in seconds between sensor captures
    
 blueprint.set_attribute('sensor_tick', '1.0')
    
 # Provide the position of the sensor relative to the vehicle.
    
 transform = carla.Transform(carla.Location(x=0.8, z=1.7))
    
 # Tell the world to spawn the sensor, don't forget to attach it to your vehicle actor.
    
 sensor = world.spawn_actor(blueprint, transform, attach_to=my_vehicle)
    
 # Subscribe to the sensor stream by providing a callback function, this function is
    
 # called each time a new image is generated by the sensor.
    
 sensor.listen(lambda data: do_something(data))