sim: improve carla performance (#23046)
parent
8160cf3c1b
commit
a4ca8e4835
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@ -221,13 +221,20 @@ def bridge(q):
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client.set_timeout(10.0)
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world = client.load_world(args.town)
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settings = world.get_settings()
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settings.synchronous_mode = True # Enables synchronous mode
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settings.fixed_delta_seconds = 0.05
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world.apply_settings(settings)
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world.set_weather(carla.WeatherParameters.ClearSunset)
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if args.low_quality:
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world.unload_map_layer(carla.MapLayer.Foliage)
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world.unload_map_layer(carla.MapLayer.Buildings)
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world.unload_map_layer(carla.MapLayer.ParkedVehicles)
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world.unload_map_layer(carla.MapLayer.Particles)
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world.unload_map_layer(carla.MapLayer.Props)
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world.unload_map_layer(carla.MapLayer.StreetLights)
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world.unload_map_layer(carla.MapLayer.Particles)
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blueprint_library = world.get_blueprint_library()
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@ -414,6 +421,9 @@ def bridge(q):
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if rk.frame % PRINT_DECIMATION == 0:
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print("frame: ", "engaged:", is_openpilot_engaged, "; throttle: ", round(vc.throttle, 3), "; steer(c/deg): ", round(vc.steer, 3), round(steer_out, 3), "; brake: ", round(vc.brake, 3))
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if rk.frame % 5 == 0:
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world.tick()
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rk.keep_time()
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# Clean up resources in the opposite order they were created.
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@ -24,4 +24,4 @@ docker run \
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-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
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-it \
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carlasim/carla:0.9.12 \
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/bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -quality-level=Epic
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/bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=High
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