Returns ROS message header

Returns ROS message header

returns: bool: False if watchdog exception occured, True otherwise

Returns the state of the traffic light at a specific frame.

Calculates the yaw of the waypoint that represents the trigger volume of the traffic light

Callback receiving the CARLA time Update time only when frame is more recent that last frame

static method to initialize an ActorConfigurationData from a given ET tree

Simplified version of "request_new_actors". This method also create several actors in batch. Instead of needing a list of ActorConfi

Resets the waypoint queue and buffer to match the new plan. Also sets the global_plan flag to avoid creating more waypoints

Changes the intersection to the desired state

Set the world and world settings

:return: (int) The current size of the buffer

As with other composites, it checks if the child is running and stops it if that is the case. Args: new_status (:

Check if the actor speed is above the speed_threshold

nn.Conv2d but with normalized fan-in init

Returns coords of a 2d box given points in sensor coords Args: cords ([type]): [description] Returns: [type]

This is a generic function to handle conditions utilising ConditionGroups Each ConditionGroup is represented as a Sequence of Conditi

Load and run the scenario given by config

Sets the dictionary of the event

Sets the message of the event

Transforms the trigger coordinates to world coordinates Args: bb ([type]): [description] parent ([type]): [descriptio

Function to setup the blueprint of an actor given its model and other relevant parameters

Cleanup of all ROS publishers

Cleanup and delete actors, ScenarioManager and CARLA world

Downsample the route by some factor. :param route: the trajectory , has to contain the waypoints and the road options :param sample_facto

Generate spawn points for the current map

Returns a tuple with the first and last frame an actor was alive. It is important to note that frames start at 1, not 0. Arg

Returns the transform of the actor at a given frame.

Get the CARLA client

@return dictionary

Calculate the transform of the adversary

Gets the driving / parking lane that is most to the right of the waypoint as well as the number of lane changes done

returns: bool: False if watchdog exception occured, True otherwise

Returns elapsed game time

Obtain a intersection point between two contour.

Pure virtual function to run one step of the controllers's control loop. This should be implemented in the user-defined agent impleme

Execute one step of navigation. :param debug: boolean for debugging :return control: carla.VehicleControl

Define the sensor suite required by the agent :return: a list containing the required sensors

Set the plan (route) for the agent

Parse the xml_tree, and replace all parameter references with the actual values. Note: Parameter names must not start with "

Default setup

Start the watchdog

Stops the watchdog.

On termination of this behavior, the throttle should be set back to 0., to avoid further acceleration.

Updates the sensor

Update the actor's target speed and set _init_speed to False. Args: speed (float): New target speed [m/s].

:param target_vec_in_global: carla.Vector3D in global coordinate (world, actor) :param ref_rot_in_global: carla.Rotation in global coordinate

Setup all relevant parameters and create scenario

Setup all relevant parameters and create scenario

Convert the plan into locations for walkers (pedestrians), or to a waypoint list for other actors. For non-walkers, activate the carl

Transforms a baseline (in world coords) into a 2d box (in sensor coords) Args: baseline ([type]): [description] cam (

Add new waypoints to the trajectory queue. :param k: how many waypoints to compute :return:

Returns 2D floor bounding box for an actor.

Returns 3D bounding box world coordinates.

Helper function to _set_actor_information for getting vehicle information from XML tree

Returns the list of all nodes from the given tree

Helper function to _set_actor_information for getting pedestrian information from XML tree

Helper function to _set_actor_information for getting vehicle information from XML tree

Forward function for single sweep. Args: sweep_index (int): Index of sweeps. sweep_imgs (Tensor): Input images.

Returns 2 coordinates for the baseline for 2d bbs in world coordinates (distance behind trigger volume, as seen from camera) Args:

Get the initial actor speed provided by the Init section

Returns the distance between p1 and p2 Args: target ([type]): [description] Returns: [type]: [description]

Returns the distance from the (rgb_front) camera to the target Args: target ([type]): [description] Returns:

Convert the vehicle transform directly to forward speed

Check if the given actor is affected by the stop

Method to check if there is a red light affecting us. This version of the method is compatible with both European and US style traffi

:param vehicle_list: list of potential obstacle to check :return: a tuple given by (bool_flag, vehicle), where - bo