From 6ceee1850379fcd469886838813ebbfe422d117e Mon Sep 17 00:00:00 2001
From: robertik10 <robertfischer654@gmail.com>
Date: Mon, 4 Dec 2023 14:02:55 +0100
Subject: [PATCH] fix: pr comments

---
 build/docker-compose.yml                   |  4 ++--
 code/agent/config/rviz_config.rviz         |  2 +-
 code/perception/src/dataset_generator.py   | 17 ++++++++++++-----
 code/perception/src/sensor_filter_debug.py |  1 -
 code/requirements.txt                      |  1 -
 doc/06_perception/11_kalman_filter.md      |  1 -
 6 files changed, 15 insertions(+), 11 deletions(-)

diff --git a/build/docker-compose.yml b/build/docker-compose.yml
index 1545f945..a68e97c4 100644
--- a/build/docker-compose.yml
+++ b/build/docker-compose.yml
@@ -57,8 +57,8 @@ services:
     tty: true
     shm_size: 2gb
     #command: bash -c "sleep 10 && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/opt/leaderboard/leaderboard/autoagents/npc_agent.py --host=carla-simulator --track=SENSORS"
-    command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch"
-    #command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=carla-simulator --track=MAP"
+    #command: bash -c "sleep 10 && roslaunch agent/launch/dev.launch"
+    command: bash -c "sleep 10 && sudo chown -R carla:carla ../code/ && sudo chmod -R a+w ../code/ && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=0 --routes=/opt/leaderboard/data/routes_devtest.xml --agent=/workspace/code/agent/src/agent/agent.py --host=carla-simulator --track=MAP"
     logging:
       driver: "local"
     environment:
diff --git a/code/agent/config/rviz_config.rviz b/code/agent/config/rviz_config.rviz
index 0d43d6b1..7064cc88 100644
--- a/code/agent/config/rviz_config.rviz
+++ b/code/agent/config/rviz_config.rviz
@@ -166,7 +166,7 @@ Visualization Manager:
       Offset:
         X: 0
         Y: 0
-        Z: 0 #39
+        Z: 39
       Pose Color: 255; 85; 255
       Pose Style: None
       Queue Size: 10
diff --git a/code/perception/src/dataset_generator.py b/code/perception/src/dataset_generator.py
index 58f5d4b4..fd849d11 100755
--- a/code/perception/src/dataset_generator.py
+++ b/code/perception/src/dataset_generator.py
@@ -246,15 +246,21 @@ def create_argparse():
         help='set up an empty world and spawn ego vehicle',
         default=False
     )
+    argparser.add_argument(
+        '--town',
+        metavar='T',
+        default='Town12',
+        help='town to load'
+    )
     return argparser
 
 
 if __name__ == '__main__':
-    towns = ["Town01", "Town02", "Town03", "Town04", "Town05", "Town06",
-             "Town07", "Town10", "Town11", "Town12"]
-    town = towns[2]
+    towns = {"Town01", "Town02", "Town03", "Town04", "Town05", "Town06",
+             "Town07", "Town10", "Town11", "Town12"}
     argparser = create_argparse()
     args = argparser.parse_args()
+    town = args.town
     output_dir = args.output_dir
     host = args.host
     port = args.port
@@ -262,10 +268,11 @@ def create_argparse():
 
     client = carla.Client(host, port)
     client.set_timeout(30)
-    world = client.load_world(town)
+    world = client.load_world(town) if use_empty_world else client.get_world()
     world.wait_for_tick()
 
-    output_dir = os.path.join(output_dir, town[-2:])
+    output_dir = os.path.join(output_dir, world.get_map().name[-2:])
+    print("Saving images to {}".format(output_dir))
 
     if use_empty_world:
         ego_vehicle = setup_empty_world(client)
diff --git a/code/perception/src/sensor_filter_debug.py b/code/perception/src/sensor_filter_debug.py
index caba249a..6ea53e7a 100755
--- a/code/perception/src/sensor_filter_debug.py
+++ b/code/perception/src/sensor_filter_debug.py
@@ -17,7 +17,6 @@
 from xml.etree import ElementTree as eTree
 # import carl____a remove ___ to use
 # import rospy
-# from carla_msgs.msg import CarlaLo
 
 GPS_RUNNING_AVG_ARGS: int = 10
 
diff --git a/code/requirements.txt b/code/requirements.txt
index 228a7204..c15e4287 100644
--- a/code/requirements.txt
+++ b/code/requirements.txt
@@ -11,4 +11,3 @@ scipy==1.10.0
 xmltodict==0.13.0
 py-trees==2.1.6
 numpy==1.23.5
-pymap3d==3.0.0
diff --git a/doc/06_perception/11_kalman_filter.md b/doc/06_perception/11_kalman_filter.md
index 1efc34a1..8eadb14b 100644
--- a/doc/06_perception/11_kalman_filter.md
+++ b/doc/06_perception/11_kalman_filter.md
@@ -81,7 +81,6 @@ The measurement matrix H is defined as:
         [0, 0, 0, 0, 0, 1]
 The process covariance matrix Q is defined as:
     Q = np.diag([0.005, 0.005, 0.001, 0.0001])
-
 ```
 
 Then 3 Steps are run in the frequency of the `control_loop_rate`: