Carla中自动控制行人行为

1、行人以自定速度在预设起点出发、终点停下

# coding:utf-8 
import carla
import random

client = carla.Client("localhost", 2000)
client.set_timeout(10.0)
world = client.get_world()
world = client.load_world('Town05')
pedestrain_blueprints = world.get_blueprint_library().filter("walker.pedestrian.0001")
# 设置行人起点
pedestrain = world.try_spawn_actor(random.choice(pedestrain_blueprints),
        carla.Transform(carla.Location(x = 19, y = 9, z = 2),carla.Rotation(yaw=-90)))
pedestrain_control = carla.WalkerControl()
# 设置行人速度
pedestrain_control.speed = 2.0
pedestrain_rotation = carla.Rotation(0,-90,0)
pedestrain_control.direction = pedestrain_rotation.get_forward_vector()
pedestrain.apply_control(pedestrain_control) 

while True:
    # 设置终点条件
    if(pedestrain.get_location().y<-6.8): 
        control = carla.WalkerControl()
        control.direction.x = 0
        control.direction.z = 0
        control.direction.y = 0
        pedestrain.apply_control(control)
        print("finish")
        break

2、行人在一段路径内来回行走

# coding:utf-8 
import carla
import random

client = carla.Client("localhost", 2000)
client.set_timeout(10.0)
world = client.get_world()
world = client.load_world('Town05')
pedestrain_blueprints = world.get_blueprint_library().filter("walker.pedestrian.0001")
# 设置行人起点
pedestrain = world.try_spawn_actor(random.choice(pedestrain_blueprints),
        carla.Transform(carla.Location(x = 19, y = 9, z=2),carla.Rotation(yaw=-90)))
revert_flag = False 

while True:
    world.wait_for_tick()
    control = carla.WalkerControl()
    control.direction.x = 0
    control.direction.z = 0
    control.speed = 2.0
    # 往返路径
    if(pedestrain.get_location().y>7.7): 
        revert_flag = True 
    if(pedestrain.get_location().y<-7.0):
        revert_flag = False
    if(revert_flag):
        control.direction.y = -1
    else:
        control.direction.y = 1
    pedestrain.apply_control(control)