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tuning simulator parameters (#20304) 

* regular and low quality

* low_quality instead of quality

* fix
pull/20308/head
iejMac 2021-03-10 21:57:24 -08:00 committed by GitHub
parent 4e9e751ba5
commit baf07191d2
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1 changed files with 11 additions and 1 deletions
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12
tools/sim/bridge.py
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@ -17,9 +17,11 @@ from selfdrive.test.helpers import set_params_enabled
parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
parser.add_argument('--joystick', action='store_true')
parser.add_argument('--town', type=str, default='Town04')
parser.add_argument('--town', type=str, default='Town04_Opt')
parser.add_argument('--spawn_point', dest='num_selected_spawn_point',
type=int, default=16)
parser.add_argument('--low_quality', type=bool, default=False)
args = parser.parse_args()
W, H = 1164, 874
@ -133,6 +135,14 @@ def bridge(q):
client.set_timeout(10.0)
world = client.load_world(args.town)
if args.low_quality:
world.unload_map_layer(carla.MapLayer.Foliage)
world.unload_map_layer(carla.MapLayer.Buildings)
world.unload_map_layer(carla.MapLayer.ParkedVehicles)
world.unload_map_layer(carla.MapLayer.Particles)
world.unload_map_layer(carla.MapLayer.Props)
world.unload_map_layer(carla.MapLayer.StreetLights)
blueprint_library = world.get_blueprint_library()
world_map = world.get_map()