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Code Issues Packages Projects Releases Wiki Activity

Simulator: improve carla experience (#29996)

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* wip

* carla improvments

* reset that
This commit is contained in:
Justin Newberry
2023-09-21 10:38:06 -07:00
committed by GitHub
parent 494228e0e1
commit 2132e2358d
1 changed files with 43 additions and 44 deletions
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tools/sim/bridge/carla.py
+43 -44
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@@ -7,20 +7,49 @@ from openpilot.tools.sim.lib.camerad import W, H
class CarlaWorld(World):
def __init__(self, world, vehicle, high_quality=False, dual_camera=False):
def __init__(self, client, high_quality, dual_camera, num_selected_spawn_point, town):
super().__init__(dual_camera)
import carla
low_quality_layers = carla.MapLayer(carla.MapLayer.Ground | carla.MapLayer.Walls | carla.MapLayer.Decals)
layers = carla.MapLayer.All if high_quality else low_quality_layers
world = client.load_world(town, map_layers=layers)
settings = world.get_settings()
settings.fixed_delta_seconds = 0.01
world.apply_settings(settings)
world.set_weather(carla.WeatherParameters.ClearSunset)
self.world = world
world_map = world.get_map()
blueprint_library = world.get_blueprint_library()
vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
vehicle_bp.set_attribute('role_name', 'hero')
spawn_points = world_map.get_spawn_points()
assert len(spawn_points) > num_selected_spawn_point, \
f'''No spawn point {num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.'''
self.spawn_point = spawn_points[num_selected_spawn_point]
self.vehicle = world.spawn_actor(vehicle_bp, self.spawn_point)
physics_control = self.vehicle.get_physics_control()
physics_control.mass = 2326
physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
physics_control.gear_switch_time = 0.0
self.vehicle.apply_physics_control(physics_control)
self.vc: carla.VehicleControl = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
self.vehicle = vehicle
self.max_steer_angle: float = vehicle.get_physics_control().wheels[0].max_steer_angle
self.max_steer_angle: float = self.vehicle.get_physics_control().wheels[0].max_steer_angle
self.params = Params()
self.steer_ratio = 15
self.carla_objects = []
blueprint_library = self.world.get_blueprint_library()
transform = carla.Transform(carla.Location(x=0.8, z=1.13))
def create_camera(fov, callback):
@@ -31,7 +60,7 @@ class CarlaWorld(World):
blueprint.set_attribute('sensor_tick', str(1/20))
if not high_quality:
blueprint.set_attribute('enable_postprocess_effects', 'False')
camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
camera = world.spawn_actor(blueprint, transform, attach_to=self.vehicle)
camera.listen(callback)
return camera
@@ -44,13 +73,13 @@ class CarlaWorld(World):
# re-enable IMU
imu_bp = blueprint_library.find('sensor.other.imu')
imu_bp.set_attribute('sensor_tick', '0.01')
self.imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle)
self.imu = world.spawn_actor(imu_bp, transform, attach_to=self.vehicle)
gps_bp = blueprint_library.find('sensor.other.gnss')
self.gps = world.spawn_actor(gps_bp, transform, attach_to=vehicle)
self.gps = world.spawn_actor(gps_bp, transform, attach_to=self.vehicle)
self.params.put_bool("UbloxAvailable", True)
self.carla_objects = [self.imu, self.gps, self.road_camera, self.road_wide_camera]
self.carla_objects = [self.imu, self.gps, self.road_camera, self.road_wide_camera, self.vehicle]
def close(self):
for s in self.carla_objects:
@@ -111,7 +140,10 @@ class CarlaWorld(World):
self.world.tick()
def reset(self):
pass
import carla
self.vehicle.set_transform(self.spawn_point)
self.vehicle.set_target_velocity(carla.Vector3D())
class CarlaBridge(SimulatorBridge):
@@ -129,38 +161,5 @@ class CarlaBridge(SimulatorBridge):
client = carla.Client(self.host, self.port)
client.set_timeout(5)
world = client.load_world(self.town)
settings = world.get_settings()
settings.fixed_delta_seconds = 0.01
world.apply_settings(settings)
world.set_weather(carla.WeatherParameters.ClearSunset)
if not self.high_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.Props)
world.unload_map_layer(carla.MapLayer.StreetLights)
world.unload_map_layer(carla.MapLayer.Particles)
blueprint_library = world.get_blueprint_library()
world_map = world.get_map()
vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
vehicle_bp.set_attribute('role_name', 'hero')
spawn_points = world_map.get_spawn_points()
assert len(spawn_points) > self.num_selected_spawn_point, \
f'''No spawn point {self.num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.'''
spawn_point = spawn_points[self.num_selected_spawn_point]
vehicle = world.spawn_actor(vehicle_bp, spawn_point)
physics_control = vehicle.get_physics_control()
physics_control.mass = 2326
physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
physics_control.gear_switch_time = 0.0
vehicle.apply_physics_control(physics_control)
return CarlaWorld(world, vehicle, dual_camera=self.dual_camera)
return CarlaWorld(client, high_quality=self.high_quality, dual_camera=self.dual_camera,
num_selected_spawn_point=self.num_selected_spawn_point, town=self.town)