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# Settings for running the carlos component againt a carla
# server & ros master running on localhost...
carla:
host: localhost
port: 2000
quality: epic
timeout: 5
ros:
master_uri: "http://localhost:11311"
anonymous: true
# Leave this false/none to give on ros setup an empty environment.
# Or give it true to give it a copy of os.environ (the running programs
# environment) or give it a dict to give it your own environment.
environ: false
clock:
# TODO: how fast does this need to be???
hertz: 60
# Where any sensor captures will get written to.
capture_dir: "captures"
# Key remapping (to whatever u want it to be).
keys:
# Rotates which sensor is in primary view (vs secondary)
sensor_left: left
sensor_right: right
# Only useful when manual mode enabled
drive_right: d
drive_left: a
drive_faster: w
drive_slower: s
drive_brake: space
drive_toggle_reverse: b
# Generally useful
quit:
- escape
- q
toggle_manual: m
toggle_recording: r
toggle_ros: p
world:
# This seems to be dependent on the carla world (this was taken
# from an example); we will likely need to figure out other better
# starting positions in time..
secondary_vehicles:
- kind: chevrolet.impala
autopilot: true
start_pos:
x: 200.0
y: 199.0
z: 40.0
- kind: tesla.model3
autopilot: true
start_pos:
x: 200.0
y: 195.8
z: 40.0
yaw: 180.0
- kind: ford.mustang
autopilot: true
start_pos:
x: 190.0
y: 195.8
z: 40.0
yaw: 180.0
- kind: dodgecharge.police
autopilot: true
start_pos:
x: 190.0
y: 199.0
z: 40.0
primary_vehicle:
autopilot: true
kind: nissan.micra
start_pos:
x: 180.0
y: 199.0
z: 40.0
sensors:
# Somewhat functions, but needs work...
# - kind: lidar.ray_cast
# name: "Front middle lidar"
# transform:
# x: 0.5
# y: 0.0
# z: 1.40
- kind: camera.rgb
name: "Front middle camera"
primary: true
transform:
x: 0.5
y: 0.0
z: 1.40
ros:
# Try to emit/publish 10 per second.
hertz: 10
base_topic: "/center_camera/image_color/"
queue_size: 10
capture:
# Settings used to control recording (when on).
#
# Number of captures per second (ideal).
frequency: 1
format: png
filename_template: "camera_%(sensor_index)s_%(capture_num)s.%(format)s"
- kind: camera.rgb
name: "Front left camera"
transform:
x: 0.5
y: -1.0
z: 1.40
- kind: camera.rgb
name: "Front right camera"
transform:
x: 0.5
y: 1.0
z: 1.40
- kind: camera.rgb
name: "Rear middle camera"
transform:
x: -1.25
y: 0.0
z: 1.40
yaw: 180
display:
height: 864
width: 1152
smooth_scaling: false # Turning this off saves some CPU during image resizes...
watermark: false # This adds a plus.ai watermark over the final render...
fullscreen: false
fps:
show: true
max: 60
media:
path: "media/"
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