How to custom path for non-ego vehicle?

[L1nmmm]

Hello,

Currently I have trajectory data, which contains the x,y,z coordinates, speed, etc. of the vehicle every 100 ms. Is it possible for Carla to make the NPC vehicle drive along a fixed trajectory? I've tried using the Traffic Manager.set_path function from version 0.9.13 and it didn't do what I wanted. Or can I set up a non-ego vehicle that moves along a customized path?

Thank you!

[werewolfdev]

You can provide custom paths to non ego vehicles by defining scenarios using openSCENARIO scripts in scenario runner . There is a routing action class

[L1nmmm]

You can provide custom paths to non ego vehicles by defining scenarios using openSCENARIO scripts in scenario runner . There is a routing action class

Thank you for your help!

Do you mean the "RouteScenario Class" in "route_scenario. py"? I checked this class and found that it uses "waypoints" to describe the path of vehicle movement like other methods. However, if I set the destination in a position where there are no waypoints nearby, the vehicle cannot reach the destination as well. Did I get it wrong, or is there another way?

[werewolfdev]

I actually mentioned regarding openSCENARIO based scenario generation. I havent actually used route_scenario.py. You can find examples of openSCENARIO scripts (xosc) in the examples folder inside scenario runner . Scenario runner has to be seperately downloaded from github according to the version of CARLA you are using . In the ASAM openSCENARIO website you can find the mentioned action RoutingAction

[stale[bot]]

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