Moving Vehicle Along Specified Route

[mariashaima]

Problem :I want to move my vehicle along this route: [124, 30, 31, 33, 84, 36, 32, 23, 128, 70, 129, 28]. What should I do? my current code is :

Get route indices

    route_1_indices = [124, 30, 31, 33, 84, 36, 32, 23, 128, 70, 129, 28]

    spawn_point = world.get_map().get_spawn_points()[124]
    # Spawn the vehicle at the specified spawn point
    vehicle = world.spawn_actor(blueprint, spawn_point)

    # Set autopilot to true to make the vehicle move automatically
    vehicle.set_autopilot(True)

    # Draw debug strings for waypoints
    for ind in route_1_indices:
        world.debug.draw_string(world.get_map().get_spawn_points()[ind].location, str(ind), life_time=3600, color=carla.Color(255, 0, 0))

    actor_list.append(vehicle)

[siddharthjain38]

@mariashaima refer Traffic manager

`spawn_points = world.get_map().get_spawn_points()

Route 1

spawn_point_1 = spawn_points[32]

Create route 1 from the chosen spawn points

route_1_indices = [129, 28, 124, 33, 97, 119, 58, 154, 147] route_1 = [] for ind in route_1_indices: route_1.append(spawn_points[ind].location)

Route 2

spawn_point_2 = spawn_points[149]

Create route 2 from the chosen spawn points

route_2_indices = [21, 76, 38, 34, 90, 3] route_2 = [] for ind in route_2_indices: route_2.append(spawn_points[ind].location)

Now let's print them in the map so we can see our routes

world.debug.draw_string(spawn_point_1.location, 'Spawn point 1', life_time=30, color=carla.Color(255,0,0)) world.debug.draw_string(spawn_point_2.location, 'Spawn point 2', life_time=30, color=carla.Color(0,0,255))

for ind in route_1_indices: spawn_points[ind].location world.debug.draw_string(spawn_points[ind].location, str(ind), life_time=60, color=carla.Color(255,0,0))

for ind in route_2_indices: spawn_points[ind].location world.debug.draw_string(spawn_points[ind].location, str(ind), life_time=60, color=carla.Color(0,0,255))

while True: world.tick()`

[NunWang]

this example is not useful

[davidscientistcom]

#################################################################################################################

David Granados Zafra.

En este ejercicio vamos a aprender rutas

################################################################################################################# import random import time

import carla from agents.navigation.global_route_planner import GlobalRoutePlanner

def init_map():

connect to the sim

client = carla.Client('localhost', 2000)
client.set_timeout(10.0)

# optional to load different towns
client.load_world('Town02')

# define environment/world and get possible places to spawn a car
world = client.get_world()

location = carla.Location(x=100, y=200, z=300)  # Ajusta las coordenadas x, y, z según sea necesario
rotation = carla.Rotation(pitch=-90, yaw=0, roll=0)

# Crea la transformación con la ubicación y rotación
transform = carla.Transform(location, rotation)
spectator = world.get_spectator()
spectator.set_transform(transform)
return world, client

def add_vehicle_to_world(world, start_point, vehicles, name): vehicle_bp = world.get_blueprint_library().filter(name)[0] vehicle = world.try_spawn_actor(vehicle_bp, start_point) vehicles.append(vehicle) return vehicle

if name == 'main': vehicles = list()

Incializamos el mapa para la simulación

world, client = init_map()

spawn_points = world.get_map().get_spawn_points()
start_point = spawn_points[42]
end_point = spawn_points[17]
# Añadimos los vehículos en las pociones correctas

vehicle1 = add_vehicle_to_world(world, start_point, vehicles, 'vehicle.dodge.charger_police_2020')

# Comenzamos a crear la ruta
sampling_resolution = 1
grp = GlobalRoutePlanner(world.get_map(), sampling_resolution)

route = grp.trace_route(start_point.location, end_point.location)

for waypoint in route:
    world.debug.draw_string(waypoint[0].transform.location, '^', draw_shadow=False,
                            color=carla.Color(r=0, g=0, b=255), life_time=60.0,
                            persistent_lines=True)

vehicle1.set_autopilot(True)

while True:
    # Carla Tick
    world.tick()

[mariashaima]

In the above code, the implementation is useful, but the vehicle is not moving along the route in autopilot mode. What should I do?