mirror of
https://github.com/dzid26/sunnypilot.git
synced 2026-06-08 07:44:55 +08:00
f5d1c4f371
* check newline * nothing catches this old-commit-hash: 97da129e11e58b07d5d136093827cd1c62311fea
23 lines
725 B
Python
23 lines
725 B
Python
from openpilot.tools.sim.bridge.common import SimulatorBridge
|
|
from openpilot.tools.sim.bridge.carla.carla_world import CarlaWorld
|
|
|
|
|
|
class CarlaBridge(SimulatorBridge):
|
|
TICKS_PER_FRAME = 5
|
|
|
|
def __init__(self, arguments):
|
|
super().__init__(arguments)
|
|
self.host = arguments.host
|
|
self.port = arguments.port
|
|
self.town = arguments.town
|
|
self.num_selected_spawn_point = arguments.num_selected_spawn_point
|
|
|
|
def spawn_world(self):
|
|
import carla
|
|
|
|
client = carla.Client(self.host, self.port)
|
|
client.set_timeout(5)
|
|
|
|
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)
|