Issue
Currently the obstacles, i.e. vehicles and pedestrians, are spawned using the ROS Bridge carla_spawn_objects package in the launch file, each obstacle configured individually with a hard-coded spawn point. This method can be cumbersome when trying to populate the town with a large number of obstacles. Instead, we can use CARLA traffic manager to spawn and manage the traffic.
Desired outcome
Add new parameters in the config file for setting the number of vehicles and pedestrians
Generate obstacles using CARLA traffic manager
Update: Spawning pedestrians will cause carla-birdeye-view to crash. I have reported the bug at carla-birdeye-view's Github issue page.
Update: Opened pull request #626 @sergiopaniego Can you take a look at it?
How to run:
Use a modified version of carla-birdeye-view from https://github.com/Qi-Zha0/carla-birdeye-view, copy the carla_birdeye_view folder into BehaviorMetrics. You probably also need to change behavior_metrics/birdview_v2_cache to birdview_v3_cache
Run python3 driver_carla.py -c configs/default_carla_traffic.yml -g
Qi-Zha0
commented
1 year ago
Issue Currently the obstacles, i.e. vehicles and pedestrians, are spawned using the ROS Bridge
carla_spawn_objectspackage in the launch file, each obstacle configured individually with a hard-coded spawn point. This method can be cumbersome when trying to populate the town with a large number of obstacles. Instead, we can use CARLA traffic manager to spawn and manage the traffic.Desired outcome
Update: Spawning pedestrians will cause carla-birdeye-view to crash. I have reported the bug at carla-birdeye-view's Github issue page.
Update: Opened pull request #626 @sergiopaniego Can you take a look at it? How to run:
behavior_metrics/birdview_v2_cachetobirdview_v3_cachepython3 driver_carla.py -c configs/default_carla_traffic.yml -g