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pre-commit-ci[bot] committed Jun 18, 2024
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26 changes: 13 additions & 13 deletions simulator/autoware_carla_interface/README.md
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Expand Up @@ -65,20 +65,20 @@ Ego vehicle commands from Autoware are processed through the `autoware_raw_vehic

All the key parameters can be configured in `autoware_carla_interface.launch.xml`.

| Name | Type | Default Value | Description |
| ------------------------- | ------ | ----------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `host` | string | "localhost" | Hostname for the CARLA server |
| `port` | int | "2000" | Port number for the CARLA server |
| `timeout` | int | 20 | Timeout for the CARLA client |
| `ego_vehicle_role_name` | string | "ego_vehicle" | Role name for the ego vehicle |
| `vehicle_type` | string | "vehicle.toyota.prius" | Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in [CARLA Blueprint ID](https://carla.readthedocs.io/en/latest/catalogue_vehicles/) |
| `spawn_point` | string | None | Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw] |
| `carla_map` | string | "Town01" | Name of the map to load in CARLA |
| `sync_mode` | bool | True | Boolean flag to set synchronous mode in CARLA |
| `fixed_delta_seconds` | double | 0.05 | Time step for the simulation (related to client FPS) |
| Name | Type | Default Value | Description |
| ------------------------- | ------ | --------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `host` | string | "localhost" | Hostname for the CARLA server |
| `port` | int | "2000" | Port number for the CARLA server |
| `timeout` | int | 20 | Timeout for the CARLA client |
| `ego_vehicle_role_name` | string | "ego_vehicle" | Role name for the ego vehicle |
| `vehicle_type` | string | "vehicle.toyota.prius" | Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in [CARLA Blueprint ID](https://carla.readthedocs.io/en/latest/catalogue_vehicles/) |
| `spawn_point` | string | None | Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw] |
| `carla_map` | string | "Town01" | Name of the map to load in CARLA |
| `sync_mode` | bool | True | Boolean flag to set synchronous mode in CARLA |
| `fixed_delta_seconds` | double | 0.05 | Time step for the simulation (related to client FPS) |
| `objects_definition_file` | string | "$(find-pkg-share autoware_carla_interface)/objects.json" | Sensor parameters file that are used for spawning sensor in CARLA |
| `use_traffic_manager` | bool | True | Boolean flag to set traffic manager in CARLA |
| `max_real_delta_seconds` | double | 0.05 | Parameter to limit the simulation speed below `fixed_delta_seconds` |
| `use_traffic_manager` | bool | True | Boolean flag to set traffic manager in CARLA |
| `max_real_delta_seconds` | double | 0.05 | Parameter to limit the simulation speed below `fixed_delta_seconds` |
| `config_file` | string | "$(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml" | Control mapping file to be used in `autoware_raw_vehicle_cmd_converter`. Current control are calibrated based on `vehicle.toyota.prius` Blueprints ID in CARLA. Changing the vehicle type may need a recalibration. |

### Configurable Parameters for Sensors
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4 changes: 3 additions & 1 deletion simulator/autoware_carla_interface/setup.py
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Expand Up @@ -25,7 +25,9 @@
license="Apache License 2.0",
tests_require=["pytest"],
entry_points={
"console_scripts": ["autoware_carla_interface = autoware_carla_interface.autoware_carla_interface:main"],
"console_scripts": [
"autoware_carla_interface = autoware_carla_interface.autoware_carla_interface:main"
],
},
package_dir={"": "src"},
)

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