Refreshing tm_spawn_npc script

LibCarla/source/carla/client/Vehicle.cpp

@@ -36,7 +36,7 @@ namespace client {
   void Vehicle::SetAutopilot(bool enabled) {
     if (enabled) {
       TM &tm = TM::GetInstance(TM::GetUniqueLocalClient());
-      tm.RegisterVehicles({carla::SharedPtr<carla::client::Actor>(this)});
+      tm.RegisterVehicles({shared_from_this()});
     }
   }
 

PythonAPI/examples/tm_spawn_npc.py

@@ -41,7 +41,7 @@ def main():
     argparser.add_argument(
         '-n', '--number-of-vehicles',
         metavar='N',
-        default=50,
+        default=10,
         type=int,
         help='number of vehicles (default: 10)')
     argparser.add_argument(
@@ -55,7 +55,7 @@ def main():
         action='store_true',
         help='avoid spawning vehicles prone to accidents')
     argparser.add_argument(
-        '--filter',
+        '--filterv',
         metavar='PATTERN',
         default='vehicle.*',
         help='vehicles filter (default: "vehicle.*")')
@@ -78,8 +78,8 @@ def main():
     try:
         traffic_manager = None
         world = client.get_world()
-        blueprints = world.get_blueprint_library().filter(args.filter)
-        blueprints_walkers = world.get_blueprint_library().filter(args.filterw)
+        blueprints = world.get_blueprint_library().filter(args.filterv)
+        blueprintsWalkers = world.get_blueprint_library().filter(args.filterw)
 
         if args.safe:
             blueprints = [x for x in blueprints if int(x.get_attribute('number_of_wheels')) == 4]
@@ -120,6 +120,9 @@ def main():
         # -------------
         # Spawn Walkers
         # -------------
+        # some settings
+        percentagePedestriansRunning = 0.0      # how many pedestrians will run
+        percentagePedestriansCrossing = 0.0     # how many pedestrians will walk through the road
         # 1. take all the random locations to spawn
         spawn_points = []
         for i in range(args.number_of_walkers):
@@ -130,18 +133,33 @@ def main():
                 spawn_points.append(spawn_point)
         # 2. we spawn the walker object
         batch = []
+        walker_speed = []
         for spawn_point in spawn_points:
-            walker_bp = random.choice(blueprints_walkers)
+            walker_bp = random.choice(blueprintsWalkers)
             # set as not invencible
             if walker_bp.has_attribute('is_invincible'):
                 walker_bp.set_attribute('is_invincible', 'false')
+            # set the max speed
+            if walker_bp.has_attribute('speed'):
+                if (random.random() > percentagePedestriansRunning):
+                    # walking
+                    walker_speed.append(walker_bp.get_attribute('speed').recommended_values[1])
+                else:
+                    # running
+                    walker_speed.append(walker_bp.get_attribute('speed').recommended_values[2])
+            else:
+                print("Walker has no speed")
+                walker_speed.append(0.0)
             batch.append(SpawnActor(walker_bp, spawn_point))
         results = client.apply_batch_sync(batch, True)
+        walker_speed2 = []
         for i in range(len(results)):
             if results[i].error:
                 logging.error(results[i].error)
             else:
                 walkers_list.append({"id": results[i].actor_id})
+                walker_speed2.append(walker_speed[i])
+        walker_speed = walker_speed2
         # 3. we spawn the walker controller
         batch = []
         walker_controller_bp = world.get_blueprint_library().find('controller.ai.walker')
@@ -163,13 +181,15 @@ def main():
         world.wait_for_tick()
 
         # 5. initialize each controller and set target to walk to (list is [controler, actor, controller, actor ...])
+        # set how many pedestrians can cross the road
+        world.set_pedestrians_cross_factor(percentagePedestriansCrossing)
         for i in range(0, len(all_id), 2):
             # start walker
             all_actors[i].start()
             # set walk to random point
             all_actors[i].go_to_location(world.get_random_location_from_navigation())
-            # random max speed
-            all_actors[i].set_max_speed(1 + random.random()/2)    # max speed between 1 and 1.5 (default is 1.4 m/s)
+            # max speed
+            all_actors[i].set_max_speed(float(walker_speed[int(i/2)]))
 
         print('Spawned %d vehicles and %d walkers, press Ctrl+C to exit.' % (len(vehicles_list), len(walkers_list)))
 
@@ -189,7 +209,7 @@ def main():
         print('Destroying %d vehicles.\n' % len(vehicles_list))
         client.apply_batch([carla.command.DestroyActor(x) for x in vehicles_list])
 
-        # stop walker controllers (list is [controler, actor, controller, actor ...])
+        # stop walker controllers (list is [controller, actor, controller, actor ...])
         for i in range(0, len(all_id), 2):
             all_actors[i].stop()