/Carla-Interactive-Script

Some example code and utilities to interact with the Carla Simulator, mainly for quick feature tests.

Primary LanguagePythonMIT LicenseMIT

Carla-Interactive-Script

国内仓库

Description

  1. Provide useful utilities for interacting with Carla simulator. See modules in src folder.
  2. Scripts that utilize the utilities. See examples folder.
  3. An interactive notebook for testing. See interactive.ipynb.
  4. An interactive notebook for parsing replay file. See replay.ipynb

Requirements

  1. Python 3.7+
  2. Carla 0.9.10+
    • Since Carla 0.9.13, carla python package is available on PyPI. You can install it with pip install carla.
    • For previous versions, you need to follow the installation guide to add the egg file to PYTHONPATH.
    • For most of our scripts, we will automatically add the egg file to PYTHONPATH by looking into environment variable CARLA_ROOT. But if you want to use the utilities in your own script, you need to add the egg file to PYTHONPATH manually.

Installation

git clone https://gitee.com/Morphlng/carla-interactive-script.git
cd carla-interactive-script
pip install -r requirements.txt

If you find that the module imported from src is marked as "unresolved", you can add the directory as an extra path in your IDE. For example, in VSCode, you can add the following to your .vscode/settings.json:

{
    "python.autoComplete.extraPaths": [
        "./src"
    ],
    "python.analysis.extraPaths": [
        "./src"
    ]
}

Demo

It is not necessary to execute from the root directory. But the relative position of the files should remain unchanged.

manual_control.py

This is directly copied from PythonAPI/examples. I've added some type annotation to make it easier to understand.

python examples/manual_control.py --host localhost --port 2000 --rolename hero --keep_ego_vehicle

manual_control

generate_traffic.py

This is also directly copied from PythonAPI/examples,without any modification.

python examples/generate_traffic.py --host localhost --port 2000 -n 50 -w 20 --safe

sensor_bounding_box.py

This script will attach a rgb camera according to the view user specified ("above", "behind") and draw the bounding box of all actors within distance.

python examples/sensor_bounding_box.py --host localhost --port 2000 --rolename hero --view above --distance 100 --res 800x600 --fov 90

sensor_bounding_box

rgb_camera_example.py

This script gives you an example of how to visualize all kinds of rgb camera sensors in Carla.

python examples/rgb_camera_example.py --host localhost --port 2000 --rolename hero

rgb_camera

waypoint_follow.py

This script implements a simple waypoint following method. It will follow the waypoints in the map and stop when it reaches the end of the waypoints.

python examples/waypoint_follow.py --host localhost --port 2000 --rolename hero --map Town01 --json_file examples/data/town01_waypoints.json --sync --fixed_delta_seconds=0.05 --spawn --visualize --camera_follow

waypoint_follow

3d_lidar.py

This script provides an example of how to visualize lidar point cloud and radar data using Open3D.

python examples/3d_lidar.py --host localhost --port 2000 --rolename hero --keep_ego_vehicle

3d_lidar