客户端如何获取carla的传感器数据

该代码的作用是客户端连接carla服务端，将服务端里面车上rgb相机传感器数据和速度位置传给客户端，图片保存在…/outputs/output_basic_api目录下，速度实时打印在控制台上，可以修改一下程序打印在日志里

"""
In this script, we are going to learn how to spawn a vehicle on the road and make it autopilot.
At the same time, we will collect camera and lidar data from it.
"""

import carla
import os
import random


def main():
    actor_list = []
    sensor_list = []

    try:
        # First of all, we need to create the client that will send the requests, assume port is 2000
        client=carla.Client(host='127.0.0.1', port=2000)
        client.set_timeout(2.0)

        # Retrieve the world that is currently running
        world = client.get_world() 
        # world = client.load_world('Town02') # you can also retrive another world by specifically defining
        blueprint_library = world.get_blueprint_library()
        # Set weather for your world

        # create the ego vehicle
        ego_vehicle_bp = blueprint_library.find('vehicle.tesla.model3')
        # black color
        ego_vehicle_bp.set_attribute('color', '0, 0, 0')
        # get a random valid occupation in the world
        transform = random.choice(world.get_map().get_spawn_points())
        # spawn the vehilce
        ego_vehicle = world.spawn_actor(ego_vehicle_bp, transform)
        # set the vehicle autopilot mode
        ego_vehicle.set_autopilot(True)

        # collect all actors to destroy when we quit the script
        actor_list.append(ego_vehicle)

        blueprint_library = world.get_blueprint_library()
        #选择相机模型
        camera_bp = blueprint_library.find("sensor.camera.rgb")
        
        IM_WIDTH = 640
        IM_HEIIGHT = 480
        # set the attribute of camera
        camera_bp.set_attribute("image_size_x", "{}".format(IM_WIDTH))
        camera_bp.set_attribute("image_size_y", "{}".format(IM_HEIIGHT))
        camera_bp.set_attribute("fov", "90")
        
        camera_transform  = carla.Transform(carla.Location(x=2.5, z=0.7))
        camera = world.spawn_actor(camera_bp, camera_transform, attach_to=ego_vehicle)
 

        output_path = '../outputs/output_basic_api'
        if not os.path.exists(output_path):
            os.makedirs(output_path)

        # set the callback function
        camera.listen(lambda image: image.save_to_disk(os.path.join(output_path, '%06d.png' % image.frame)))
        sensor_list.append(camera)

        # 获取所有车辆
        actors = world.get_actors().filter('vehicle.*')
       
        while True:
            # set the sectator to follow the ego vehicle
            spectator = world.get_spectator()
            transform = ego_vehicle.get_transform()
            spectator.set_transform(carla.Transform(transform.location + carla.Location(z=20),
                                                    carla.Rotation(pitch=-90)))
            
            # 遍历每个车辆并获取位置和速度信息
            for actor in actors:
                location = actor.get_location()
                velocity = actor.get_velocity()

                print(f"车辆ID: {actor.id}")
                print(f"位置: {location.x}, {location.y}, {location.z}")
                print(f"速度: {velocity.x}, {velocity.y}, {velocity.z}")
                print("---------------------")

    finally:
        print('destroying actors')
        client.apply_batch([carla.command.DestroyActor(x) for x in actor_list])
        for sensor in sensor_list:
            sensor.destroy()
        print('done.')


if __name__ == '__main__':
    try:
        main()
    except KeyboardInterrupt:
        print(' - Exited by user.')

参考：
https://www.ngui.cc/el/2651369.html?action=onClick
https://www.zhihu.com/column/c_1324712096148516864