Carla 开源自动驾驶仿真软件使用指南 [AD simulator]

最新推荐文章于 2025-05-08 18:20:41 发布

chepwavege

最新推荐文章于 2025-05-08 18:20:41 发布

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分类专栏： python_自动驾驶模拟器

本文链接：https://blog.csdn.net/chepwavege/article/details/90904813

modules

introdution:

开源软件
unreal engine 4
用户通过Python API 调用, server --client 的形式- REF: https://carla.readthedocs.io/en/latest/python_api/

let's start:

The API has been significantly changed in the latest versions starting at 0.9.0. We commonly refer to the new API as 0.9.X API as opposed to the previous 0.8.X API

Section 1 API 学习

官网下载软件包，解压， shit+右键，解压路径下打开shell窗口 .\CarlaUE4.exe 运行

通过鼠标+ AWSD 控制运行，

打开路径：D:\study\codes\CARLA_0.9.5\PythonAPI\examples

打开另一个shell, 运行官网

创建（spawn) 场景元素,demo命令

python spawn_npc.py -n 80

With this script we are adding 80 vehicles to the world driving in "autopilot" mode. Back to the simulator window we should see these vehicles driving around the city. They will keep driving randomly until we stop the script. Let's leave them there for now

这个命令实现了添加80个车辆，随机的自主运动。 CTR+C 结束演示。 脚本有难度，Lesson2 后，查看API

修改天气
天气自动变化
```
python dynamic_weather.py
```
手动控制车辆
```
python manual_control.py
```

运行窗口如下：第三视角

第一课时结束。下课！:)

Lesson2 :

几个概念：

创建Client 对象：

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

client.set_timeout(10.0) # seconds

模拟世界：

world = client.get_world()

actor (模拟器中的演员对象-比如汽车）

blueprints--actor对应的属性（比如颜色，车型 etc），在构造蓝图blueprints中设置。--所有的属性都包含在一个库中。

blueprint_library = world.get_blueprint_library()

The library allows us to find specific blueprints by ID, filter them with wildcards, or just choosing one at random

# 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.*'))

Some of the attributes of the blueprints can be modified while some other are just read-only. For instance, we cannot modify the number of wheels of a vehicle but we can change its color

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')

Modifiable attributes also come with a list of recommended values

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

了解了属性设置后，开始创建actor,

Once we have the blueprint set up, spawning an actor is pretty straightforward

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

shen

The spawn actor function comes in two flavours, spawn_actor and try_spawn_actor. The former will raise an exception if the actor could not be spawned, the later will return None instead. The most typical cause of failure is collision at spawn point, meaning the actor does not fit at the spot we chose; probably another vehicle is in that spot or we tried to spawn into a static object.

To ease the task of finding a spawn location, each map provides a list of recommended transforms