Two clients, Lidar not sense vehicle

CARLA version: 0.9.13 Platform/OS: Ubuntu Problem you have experienced: Connecting 2 client. One represents the LIDAR the other a vehicle. What you expected to happen: The LIDAR sense the vehicle equally to the other features such as trees. Steps to reproduce: Simply check if LIDAR sense the vehicle.

What I am doing wrong?

LIDAR.py

#!/usr/bin/env python
# coding: utf-8
import os
import carla

import time
import random
import math
import numpy as np

class CARLAInfrastructureWorker:
    def __init__(self):
        self.map = np.zeros([40,40]) 

        ## Client
        client = carla.Client("localhost", 2000)
        client.set_timeout(20.0)

        ## World
        self.world = client.get_world()
        self.blueprint_library = self.world.get_blueprint_library()
        self.world.wait_for_tick()

        ## Setup LIDAR sensor
        self.lidar_bp = self.blueprint_library.find('sensor.lidar.ray_cast')
        self.lidar_bp.set_attribute('range', "20")
        self.lidar_bp.set_attribute('upper_fov', '30')
        self.lidar_bp.set_attribute('lower_fov', '-30')
        self.lidar_bp.set_attribute('rotation_frequency','10.0')
        self.lidar_bp.set_attribute('points_per_second', '100000')
        self.lidar_bp.set_attribute('dropoff_general_rate', '0.00')
        self.lidar_bp.set_attribute('sensor_tick', '0.1')
        self.x = 268
        self.y = 60
        self.z = 0.1

        lidar_transform = carla.Transform(carla.Location(z=self.z,x=self.x,y=self.y))
        self.lidar = self.world.spawn_actor(self.lidar_bp, lidar_transform)#, attach_to=self.vehicle)
        self.lidar.listen(self.lidar_callback)
        self.world.tick()

        ## Spectator camera
        self.spectator = self.world.get_spectator()
        self.world.tick()

    ## Collect LIDAR data
    def lidar_callback(self,event):
        #self.map = np.zeros([40,40]) 
        for data in event:´
            if data.point.z > self.z and  data.point.z < self.z +0.5:    
                x_grid = data.point.x
                y_grid = data.point.y
                self.map[round(int(x_grid)),round(int(y_grid))] = 1

    def consult(self):
        # Make the world clock another tick
        self.world.tick()

    def getMap(self):
        return self.map

worker = CARLAInfrastructureWorker()
step = 0

scans = []
while(True):
    worker.consult()
    step += 1
    if step == 1000:
        ground_trought = worker.getMap().reshape(40,40),
        print("Start detecting")
    elif step > 1000 :
        scan_map = worker.getMap()
        _rst = scan_map.reshape(40,40) - ground_trought
        if np.max(_rst) > 0:
            print("Object detected")
        time.sleep(1.0)

        begin = carla.Location(x=worker.x,y=worker.y ,z=worker.z )
        worker.world.debug.draw_box(box=carla.BoundingBox(begin,carla.Vector3D(-20,-20,2)), rotation=carla.Rotation(0,0,0),thickness= 0.8, color= carla.Color(255,0,0,0),life_time=2.0)
        worker.world.debug.draw_point(begin, size= 0.2, life_time=2.0)

VEHICLE.py

#!/usr/bin/env python
# coding: utf-8

import carla

import random
import math
import numpy as np

import matplotlib.image as img

class CARLAAutomatedVehicle:
    def __init__(self):

        ## Client
        client = carla.Client("localhost", 2000)
        client.set_timeout(40.0)

        ## World
        self.world = client.load_world("Town01")
        self.world.wait_for_tick()

        ## Vehicle
        self.blueprint_library = self.world.get_blueprint_library()
        _vehicles = self.blueprint_library.filter('vehicle')
        self.bp = _vehicles[7]
        self.world.tick()

        ## Set spawn point
        sp = self.world.get_map().get_spawn_points()
        transform = sp[4] 

        ## Spawn vehicle
        self.vehicle = self.world.spawn_actor(self.bp, transform)
        self.vehicle.set_transform(transform)
        self.vehicle.set_location(transform.location)
        #self.vehicle.set_autopilot(True)
        self.world.tick()

        ## Spectator camera
        self.spectator = self.world.get_spectator()
        self.world.tick()

    def consult(self):
        # Let the camera follow the vehicle
        spectator_transform = self.vehicle.get_transform()
        self.spectator.set_transform(carla.Transform(spectator_transform.location + carla.Location(z=30), carla.Rotation(pitch=-90, yaw=-90)))
        lc = self.vehicle.get_transform().location
        #print(str(lc.x)+" "+str(lc.y)+" "+str(lc.z))
        # Make the world clock another tick
        print("Input")
        input1 = input()
        print("Given >",input1,"<")
        if input1 == "x+":
            lc.x += 1
            self.vehicle.set_location(lc)
        if input1 == "x-":
            lc.x -= 1
            self.vehicle.set_location(lc)
        if input1 == "y+":
            lc.y += 1
            self.vehicle.set_location(lc)
        if input1 == "y-":
            lc.y -= 1
            self.vehicle.set_location(lc)
        if input1 == "z+":
            lc.z += 1
            self.vehicle.set_location(lc)
        if input1 == "z-":
            lc.z -= 1
            self.vehicle.set_location(lc)
        if input1 == "m":
            print(str(lc.x)+" "+str(lc.y)+" "+str(lc.z))

        self.world.tick()

### main()

worker = CARLAAutomatedVehicle()
step = 0
while(True):
    worker.consult()

carla-simulator / carla

Two clients, Lidar not sense vehicle #6008