spawn_and_sensor_attach.py

#!/usr/bin/env python3

#Script by Rishabh Verma
#This script is a part of the project I'm doing for Autonomous Navigation On Carla

from ast import Lambda
import glob
import os
import sys
from tkinter import Frame
import cv2
from cv2 import transform
import numpy as np
import random
import matplotlib.pyplot as plt
import time
import argparse
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

def main():
    actorList = []
    try:
        
        client = carla.Client('localhost',2000)
        client.set_timeout(10.0)
        world = client.load_world('Town01')
        print(client.get_available_maps())

        blueprintLibrary = world.get_blueprint_library()
        vehicle_bp = blueprintLibrary.filter('cybertruck')[0]
        transform = carla.Transform(carla.Location(x=130, y=195, z=40), carla.Rotation(yaw = 180))
        vehicle = world.spawn_actor(vehicle_bp, transform)
        actorList.append(vehicle)

        camera_bp = blueprintLibrary.find('sensor.camera.rgb')
        camera_bp.set_attribute('image_size_x','800')
        camera_bp.set_attribute('image_size_y','600')
        camera_bp.set_attribute('fov','90')
        camera_transform = carla.Transform(carla.Location(x=1.5,z=2.4))
        camera = world.spawn_actor(camera_bp,camera_transform,attach_to=vehicle)
        camera.listen(lambda image: image.save_to_disk('output/%d064.png'%image.frame))

        transform.rotation.yaw = -180
        for _ in range(0,5):
            transform.location.x+=10.0
            bp = blueprintLibrary.filter('cybertruck')[0]
            npc = world.try_spawn_actor(bp, transform)
            
            if npc is not None:
                actorList.append(npc)
                npc.set_autopilot = True
                print('created %s'%npc.type_id) 
        time.sleep(15)
    finally:
        print('delete actorList')
        client.apply_batch([carla.command.DestroyActor(x) for x in actorList])


if __name__ == '__main__':
    main()