| import logging |
| from pathlib import Path |
| from ROAR_Sim.configurations.configuration import Configuration as CarlaConfig |
| from ROAR_Sim.carla_client.carla_runner import CarlaRunner |
| from ROAR.agent_module.pure_pursuit_agent import PurePursuitAgent |
| from ROAR.configurations.configuration import Configuration as AgentConfig |
| import argparse |
| from misc.utils import str2bool |
| from ROAR.agent_module.michael_pid_agent import PIDAgent |
| from ROAR.agent_module.forward_only_agent import ForwardOnlyAgent |
|
|
|
|
| def main(args): |
| """Starts game loop""" |
| agent_config = AgentConfig.parse_file(Path("./ROAR/configurations/carla/carla_agent_configuration.json")) |
| carla_config = CarlaConfig.parse_file(Path("./ROAR_Sim/configurations/configuration.json")) |
|
|
| carla_runner = CarlaRunner(carla_settings=carla_config, |
| agent_settings=agent_config, |
| npc_agent_class=PurePursuitAgent) |
| try: |
| my_vehicle = carla_runner.set_carla_world() |
| agent = ForwardOnlyAgent(vehicle=my_vehicle, |
| agent_settings=agent_config) |
| carla_runner.start_game_loop(agent=agent, |
| use_manual_control=not args.auto) |
|
|
| except Exception as e: |
| logging.error(f"Something bad happened during initialization: {e}") |
| carla_runner.on_finish() |
| logging.error(f"{e}. Might be a good idea to restart Server") |
|
|
|
|
| if __name__ == "__main__": |
| logging.basicConfig(format='%(levelname)s - %(asctime)s - %(name)s ' |
| '- %(message)s', |
| datefmt="%H:%M:%S", |
| level=logging.DEBUG) |
| logging.getLogger(" streaming client").setLevel(logging.WARNING) |
| import warnings |
|
|
| warnings.filterwarnings("ignore", module="carla") |
| parser = argparse.ArgumentParser() |
| parser.add_argument("--auto", type=str2bool, default=False, help="True to use auto control") |
|
|
| warnings.filterwarnings("ignore", module="carla") |
| args = parser.parse_args() |
| main(args) |
|
|
