test_scenario_1.py

#!/usr/bin/env python

import glob 
import os
import sys

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
import random
import time
import threading
import queue
import numpy as np
import subprocess
from agents.navigation.behavior_agent import BehaviorAgent


def main():

    client = carla.Client('localhost', 2000)
    client.set_timeout(2.0)
    world = client.get_world()

    # Create a synchronous mode context
    settings = world.get_settings()
    settings.synchronous_mode = True
    settings.fixed_delta_seconds = 0.1  # Simulation step size in seconds
    world.apply_settings(settings)

    ego_vehicle = None
    while ego_vehicle is None:
        print("Waiting for the ego vehicle...")
        time.sleep(1)
        possible_vehicles = world.get_actors().filter('vehicle.*')
        for vehicle in possible_vehicles:
            if vehicle.attributes['role_name'] == 'hero':
                print("Ego vehicle found")
                ego_vehicle = vehicle
                break

    bp = random.choice(world.get_blueprint_library().filter('vehicle.dodge.charger_2020'))
    transform = random.choice(world.get_map().get_spawn_points())
    second_vehicle = world.try_spawn_actor(bp, transform)
    second_vehicle.set_autopilot(True)

    agent = BehaviorAgent(ego_vehicle, behavior='aggressive')
    agent.ignore_traffic_lights(True)
    agent.set_destination(second_vehicle.get_location())

    spectator = world.get_spectator()

    while True:
        if agent.done():
            agent.set_destination(second_vehicle.get_location())

        transform = ego_vehicle.get_transform()
        spectator.set_transform(carla.Transform(transform.location + carla.Location(z=30),carla.Rotation(pitch=-90)))

        ego_vehicle.apply_control(agent.run_step())


if __name__ == '__main__':
    try:
        main()
    except KeyboardInterrupt:
        pass
    finally:
        print("Bye Bye :)")