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carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
MIT License
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pedestrian walking without animation in lidar sensor #7144

Open gouchaoer opened 6 months ago

gouchaoer commented 6 months ago

I'm using multi-gpu feature of carla. I have 3 carla instances running on 3 GPU. rgb camera(sensor.camra.rgb) is running on carla instance 1, pedestrian walks good with animation. fisheye camera(sensor.camra.fisheye) and lidar(sensor.lidar.ray_cast_semantic) is running on carla instance 2 and 3. but in lidar and fisheye sensor, pedestrian is moving without animation. If rgb camera and fishsye/lidar sensor is running on the same carla instance, then in fisheye/lidar sensor, pedestrian is walking with animation. I think pedestrian animation is triggered by rgb camera. But I don't know how to make fisheye/lidar also trigger pedestrian's animation

gouchaoer commented 5 months ago

@bernatx @LuisPoveda do you have any idea, it's like this issue:https://github.com/carla-simulator/carla/pull/6128/

EmmettJZK commented 5 months ago

The simulation is triggered by world.tick(), and secondary Carla is triggered by FrameData sent from Primary Carla. So I think the problem is that fisheye and lidar sensor take more computation resources. This may cause walk animation work incorrectly on secondary carla