A very simple example script to spawn and start a vehicle in Carla simulator.

carla_startup.py

#!/usr/bin/env python

# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
# Barcelona (UAB).
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.

import glob
import os
import sys

try:
    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
        sys.version_info.major,
        sys.version_info.minor,
        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
except IndexError:
    pass

import carla

import random
import time


def main():
    actor_list = []

    # In this tutorial script, we are going to add a vehicle to the simulation
    # and let it drive in autopilot. We will also create a camera attached to
    # that vehicle, and save all the images generated by the camera to disk.

    try:
        # First of all, we need to create the client that will send the requests
        # to the simulator. Here we'll assume the simulator is accepting
        # requests in the localhost at port 2000.
        client = carla.Client('localhost', 2000)
        client.set_timeout(10.0)

        # Once we have a client we can retrieve the world that is currently
        # running.
        world = client.get_world()

        # The world contains the list blueprints that we can use for adding new
        # actors into the simulation.
        blueprint_library = world.get_blueprint_library()

        # Now let's filter all the blueprints of type 'vehicle' and choose one
        # at random.
        bp = random.choice(blueprint_library.filter('vehicle.dodge.charger_2020'))

        # Now we need to give an initial transform to the vehicle. We choose a
        # random transform from the list of recommended spawn points of the map.
        transform = world.get_map().get_spawn_points()[10]
        
        # Set the spectator behind the vehicle
        spectator = world.get_spectator()
        spec_transform = carla.Transform(
            location = carla.Location(x = transform.location.x - 10, y = transform.location.y, z = transform.location.z + 5),
            rotation = transform.rotation
        )
        spectator.set_transform(spec_transform)

        # So let's tell the world to spawn the vehicle.
        vehicle = world.spawn_actor(bp, transform)
        
        # It is important to note that the actors we create won't be destroyed
        # unless we call their "destroy" function. If we fail to call "destroy"
        # they will stay in the simulation even after we quit the Python script.
        # For that reason, we are storing all the actors we create so we can
        # destroy them afterwards.
        actor_list.append(vehicle)
        print('created %s' % vehicle.type_id)

        # Let's put the vehicle to drive around.
        vehicle.set_autopilot(True)

        time.sleep(50)

    finally:

        print('destroying actors')
        client.apply_batch([carla.command.DestroyActor(x) for x in actor_list])
        print('done.')


if __name__ == '__main__':

    main()