mutile vehicles run around

[hexrefugee]

CARLA version: 0.9.13 Platform/OS: Ubuntu 20.04 Problem you have experienced: I generated 10 vehicles without any sensors and set to autopilot. Another vehicle is spawned, carrying a lidar. After they run for less than half minute, they just wander off. What you expected to happen: How can I fix this problem? Steps to reproduce: Other information (documentation you consulted, workarounds you tried): Here is my code: `import carla

def main():

try:
    client = carla.Client('localhost', 2000)
    client.set_timeout(10.0)
    world = client.get_world()

    settings = world.get_settings()
    settings.synchronous_mode = True
    synchronous_master = True

    # traffic_manager
    tm_normal = client.get_trafficmanager(8000)
    tm_normal.set_global_distance_to_leading_vehicle(2.0)
    tm_normal.set_random_device_seed(0)
    tm_normal.set_synchronous_mode(True)

    tm_sensor = client.get_trafficmanager(4000)
    tm_sensor.set_global_distance_to_leading_vehicle(2.0)
    tm_sensor.set_random_device_seed(0)
    tm_sensor.set_synchronous_mode(True)

    # spawn vehicles
    blueprint_library = world.get_blueprint_library()
    vehicle_bp = blueprint_library.filter('model3')[0]
    spawn_points = world.get_map().get_spawn_points()
    for i in range(20):
        spawn_point = spawn_points[i]
        vehicle = world.spawn_actor(vehicle_bp, spawn_point)
        print("spawn_point: ", str(spawn_point))
        vehicle.apply_control(carla.VehicleControl(throttle=0.5, steer=-0.2))
        vehicle.set_autopilot(True, tm_normal.get_port())

    # spawn lidar
    spawn_point1 = spawn_points[-1]
    sensor_vehicle = world.spawn_actor(vehicle_bp, spawn_point1)
    sensor_vehicle.set_autopilot(True, tm_sensor.get_port())
    sensor_vehicle.apply_control(carla.VehicleControl(throttle=0.5, steer=-0.2))

    lidar_bp = blueprint_library.find('sensor.lidar.ray_cast')
    lidar_bp.set_attribute('channels', str(32))
    lidar_bp.set_attribute('points_per_second', str(300000))
    lidar_bp.set_attribute('rotation_frequency', str(20))
    lidar_bp.set_attribute('range', str(100))

    lidar_location = carla.Location(0,0,1.8)
    lidar_rotation = carla.Rotation(0, 0, 0)
    lidar_transform = carla.Transform(lidar_location, lidar_rotation)
    lidar1 = world.spawn_actor(lidar_bp, lidar_transform, attach_to=sensor_vehicle)

    # add vehicles to tm
    actor_list = world.get_actors().filter('vehicle*')
    print(len(actor_list))
    # for actor in actor_list:
    #     actor.set_autopilot(True, tm.get_port())

    while True:
        if  synchronous_master:
            world.tick()
        else:
            world.wait_for_tick()

finally:
    if not synchronous_master:
        settings = world.get_settings()
        settings.synchronous_mode = False
        settings.no_rendering_mode = False
        settings.fixed_delta_seconds = None
        world.apply_settings(settings)

    print('\ndestroying %d vehicles' % len(actor_list))
    client.apply_batch([carla.command.DestroyActor(x) for x in actor_list]) 

if name == 'main':

try:
    main()
except KeyboardInterrupt:
    pass
finally:
    print('\ndone.')

`

[SExpert12]

Hi, Does your code freeze the server as in while loop synchronous_master is always True.