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check_env.py
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import carla
import Controller.MPCController as MPCController
from Utils.HUD import HUD as HUD
from World import World
from stable_baselines3.common.env_checker import check_env
import argparse
argparser = argparse.ArgumentParser(
description='CARLA Manual Control Client')
argparser.add_argument(
'-v', '--verbose',
action='store_true',
dest='debug',
help='print debug information')
argparser.add_argument(
'--host',
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument(
'-p', '--port',
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)')
argparser.add_argument(
'-a', '--autopilot',
action='store_true',
help='enable autopilot')
argparser.add_argument(
'--res',
metavar='WIDTHxHEIGHT',
default='1280x720',
help='window resolution (default: 1280x720)')
argparser.add_argument(
'--filter',
metavar='PATTERN',
default='vehicle.*',
help='actor filter (default: "vehicle.*")')
argparser.add_argument(
'--rolename',
metavar='NAME',
default='hero',
help='actor role name (default: "hero")')
argparser.add_argument(
'--gamma',
default=2.2,
type=float,
help='Gamma correction of the camera (default: 2.2)')
argparser.add_argument(
'--map',
metavar='NAME',
default='Town04',
help='simulation map (default: "Town04")')
argparser.add_argument(
'--spawn_x',
metavar='x',
default='-16.75', #town04 = -16.75
help='x position to spawn the agent')
argparser.add_argument(
'--spawn_y',
metavar='y',
default='-223.55', #town04 = -223.55
help='y position to spawn the agent')
argparser.add_argument(
'--random_spawn',
metavar='RS',
default='0',
type=int,
help='Random spawn agent')
argparser.add_argument(
'--vehicle_id',
metavar='NAME',
# default='vehicle.jeep.wrangler_rubicon',
default='vehicle.tesla.model3',
help='vehicle to spawn, available options : vehicle.audi.a2 vehicle.audi.tt vehicle.carlamotors.carlacola vehicle.citroen.c3 vehicle.dodge_charger.police vehicle.jeep.wrangler_rubicon vehicle.yamaha.yzf vehicle.nissan.patrol vehicle.gazelle.omafiets vehicle.bh.crossbike vehicle.ford.mustang vehicle.bmw.isetta vehicle.audi.etron vehicle.harley-davidson.low rider vehicle.mercedes-benz.coupe vehicle.bmw.grandtourer vehicle.toyota.prius vehicle.diamondback.century vehicle.tesla.model3 vehicle.seat.leon vehicle.lincoln.mkz2017 vehicle.kawasaki.ninja vehicle.volkswagen.t2 vehicle.nissan.micra vehicle.chevrolet.impala vehicle.mini.cooperst')
argparser.add_argument(
'--vehicle_wheelbase',
metavar='NAME',
type=float,
default='2.89',
help='vehicle wheelbase used for model predict control')
argparser.add_argument(
'--waypoint_resolution',
metavar='WR',
default='1',
type=float,
help='waypoint resulution for control')
argparser.add_argument(
'--waypoint_lookahead_distance',
metavar='WLD',
default='5',
type=float,
help='waypoint look ahead distance for control')
argparser.add_argument(
'--desired_speed',
metavar='SPEED',
default='15',
type=float,
help='desired speed for highway driving')
argparser.add_argument(
'--control_mode',
metavar='CONT',
default='MPC',
help='Controller')
argparser.add_argument(
'--planning_horizon',
metavar='HORIZON',
type=int,
default='5',
help='Planning horizon for MPC')
argparser.add_argument(
'--time_step',
metavar='DT',
default='0.2',
type=float,
help='Planning time step for MPC')
argparser.add_argument(
'--FPS',
metavar='FPS',
default='30',
type=int,
help='Frame per second for simulation')
args = argparser.parse_args()
args.width, args.height = [int(x) for x in args.res.split('x')]
try:
client = carla.Client('127.0.0.1', 2000)
client.set_timeout(100.0)
# carla_world = client.load_world(args.map)
carla_world = client.get_world()
carla_world.apply_settings(carla.WorldSettings(
no_rendering_mode=False,
synchronous_mode=True,
fixed_delta_seconds=1/30))
hud = HUD()
world = World(client, carla_world, hud, args)
# check_env(world)
world.reset()
phy = world.parked_vehicle.get_physics_control()
wheels = phy.wheels
front_left_wheel = wheels[0]
front_right_wheel = wheels[1]
back_left_wheel = wheels[2]
back_right_wheel = wheels[3]
print(f'front left x: {front_left_wheel.x}')
print(f'front right x: {front_right_wheel.x}')
print(f'front left y: {front_left_wheel.y}')
print(f'front right y: {front_right_wheel.y}')
print(f'back left x: {back_left_wheel.x}')
print(f'back right x: {back_right_wheel.x}')
print(f'back left y: {back_left_wheel.y}')
print(f'back right y: {back_right_wheel.y}')
# world.reset()
# world.destroy()
finally:
# print(world.list_wp)
if world is not None:
world.destroy()