提交了一个启动carla文件“main_carla_simulator.py”

src/Unmanned_vehicle_control/main_carla_simulator.py

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+import carla
+import numpy as np
+
+from src.config import MAX_BRAKING_M_S_2, MAX_WHEEL_ANGLE_RAD, MAX_ACCELERATION_M_S_2
+
+
+class CarlaSimulator:
+    def __init__(self):
+        self.client = carla.Client('localhost', 2000)
+        self.client.set_timeout(10.0)
+        self.world = self.client.get_world()
+        self.ego_vehicle = None
+        for vehicle in self.world.get_actors().filter('*vehicle*'):
+            vehicle.destroy()
+
+    def load_world(self, map_name):
+        self.client.load_world(map_name)
+
+    def spawn_ego_vehicle(self, vehicle_name, x=0, y=0, z=0, pitch=0, yaw=0, roll=0):
+        blueprint_library = self.world.get_blueprint_library()
+        vehicle_bp = blueprint_library.filter(vehicle_name)[0]
+        spawn_location = carla.Location(x, y, z)
+        spawn_rotation = carla.Rotation(pitch, yaw,roll)
+        spawn_transform = carla.Transform(location=spawn_location, rotation=spawn_rotation)
+        self.ego_vehicle = self.world.spawn_actor(vehicle_bp, spawn_transform)
+
+    def set_spectator(self, x=0, y=0, z=0, pitch=0, yaw=0, roll=0):
+        spectator = self.world.get_spectator()
+        location = carla.Location(x=x, y=y, z=z)
+        rotation = carla.Rotation(pitch=pitch, yaw=yaw, roll=roll)
+        spectator_transform = carla.Transform(location, rotation)
+        spectator.set_transform(spectator_transform)
+
+    def clean(self):
+        for vehicle in self.world.get_actors().filter('*vehicle*'):
+            vehicle.destroy()
+
+    def draw_trajectory(self, x_traj, y_traj, height = 0, thickness = 0.1, red = 0, green = 0, blue = 0, life_time = 0.1):
+        for i in range(len(x_traj) - 1):
+            start_point = carla.Location(x=x_traj[i], y=y_traj[i], z=height)
+            end_point = carla.Location(x=x_traj[i + 1], y=y_traj[i + 1], z=height)
+            self.world.debug.draw_line(start_point, end_point, thickness=thickness, color=carla.Color(red, green, blue), life_time=life_time)
+
+    def get_main_ego_vehicle_state(self):
+        transform = self.ego_vehicle.get_transform()
+        x = transform.location.x
+        y = transform.location.y
+        theta = np.deg2rad(transform.rotation.yaw)
+        v = np.sqrt(self.ego_vehicle.get_velocity().x**2 + self.ego_vehicle.get_velocity().y**2)
+        return x, y, theta, v
+
+    def apply_control(self, steer, throttle, brake):
+        self.ego_vehicle.apply_control(carla.VehicleControl(throttle=throttle, steer=steer, brake=brake))
+
+    @staticmethod
+    def process_control_inputs(wheel_angle_rad, acceleration_m_s_2):
+        if acceleration_m_s_2 == 0:
+            throttle = 0
+            brake = 0
+        elif acceleration_m_s_2 < 0:
+            throttle = 0
+            brake = acceleration_m_s_2 / MAX_BRAKING_M_S_2
+        else:
+            throttle = acceleration_m_s_2 / MAX_ACCELERATION_M_S_2
+            brake = 0
+        steer = wheel_angle_rad / MAX_WHEEL_ANGLE_RAD
+        return throttle, brake, steer
+
+    def print_ego_vehicle_characteristics(self):
+        if not self.ego_vehicle:
+            print("Vehicle not spawned yet!")
+            return None
+
+        physics_control = self.ego_vehicle.get_physics_control()
+
+        print("Vehicle Physics Information.\n")
+
+        print("Wheel Information:")
+        for i, wheel in enumerate(physics_control.wheels):
+            print(f" Wheel {i + 1}:")
+            print(f"   Tire Friction: {wheel.tire_friction}")
+            print(f"   Damping Rate: {wheel.damping_rate}")
+            print(f"   Max Steer Angle: {wheel.max_steer_angle}")
+            print(f"   Radius: {wheel.radius}")
+            print(f"   Max Brake Torque: {wheel.max_brake_torque}")
+            print(f"   Max Handbrake Torque: {wheel.max_handbrake_torque}")
+            print(f"   Position (x, y, z): ({wheel.position.x}, {wheel.position.y}, {wheel.position.z})")
+
+        print(f" Torque Curve:")
+        for point in physics_control.torque_curve:
+            print(f"RPM: {point.x}, Torque: {point.y}")
+        print(f" Max RPM: {physics_control.max_rpm}")
+        print(f" MOI (Moment of Inertia): {physics_control.moi}")
+        print(f" Damping Rate Full Throttle: {physics_control.damping_rate_full_throttle}")
+        print(f" Damping Rate Zero Throttle Clutch Engaged: {physics_control.damping_rate_zero_throttle_clutch_engaged}")
+        print(f" Damping Rate Zero Throttle Clutch Disengaged: {physics_control.damping_rate_zero_throttle_clutch_disengaged}")
+        print(f" If True, the vehicle will have an automatic transmission: {physics_control.use_gear_autobox}")
+        print(f" Gear Switch Time: {physics_control.gear_switch_time}")
+        print(f" Clutch Strength: {physics_control.clutch_strength}")
+        print(f" Final Ratio: {physics_control.final_ratio}")
+        print(f" Mass: {physics_control.mass}")
+        print(f" Drag coefficient: {physics_control.drag_coefficient}")
+        print(f" Steering Curve:")
+        for point in physics_control.steering_curve:
+            print(f"Speed: {point.x}, Steering: {point.y}")