CARLA 从A点移动到B点

最新推荐文章于 2024-06-20 17:54:56 发布

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最新推荐文章于 2024-06-20 17:54:56 发布

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分类专栏： CARLA征服计划文章标签： python

本文链接：https://blog.csdn.net/qq_21692851/article/details/129889645

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import carla
import random
import time

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

world = client.get_world()

# 获取地图中的起点A和终点B
start_location = carla.Location(x=100, y=200, z=1.0)
end_location = carla.Location(x=130, y=200, z=1.0)

# 在起点A生成一个新车辆
blueprint_library = world.get_blueprint_library()
vehicle_bp = random.choice(blueprint_library.filter('vehicle.*.*'))
spawn_transform = carla.Transform(carla.Location(start_location), carla.Rotation(yaw=0.0))
vehicle = world.try_spawn_actor(vehicle_bp, spawn_transform)

# 设置车辆控制命令
vehicle_control = carla.VehicleControl(throttle=1.0, steer=0.0)
vehicle_control.target_location = end_location

# 将车辆移动到终点B
while True:
    vehicle.apply_control(vehicle_control)
    location = vehicle.get_location()
    distance = location.distance(end_location)
    if distance < 2.0:
        break
    time.sleep(0.1)

# 销毁车辆并关闭CARLA客户端
vehicle.destroy()
client.apply_batch([carla.command.DestroyActor(vehicle)])
client.disconnect()