wip

tools/sim/bridge/carla/carla_bridge.py

@@ -0,0 +1,22 @@
+from openpilot.tools.sim.bridge.common import SimulatorBridge
+from openpilot.tools.sim.bridge.carla.carla_world import CarlaWorld
+
+
+class CarlaBridge(SimulatorBridge):
+  TICKS_PER_FRAME = 5
+
+  def __init__(self, arguments):
+    super().__init__(arguments)
+    self.host = arguments.host
+    self.port = arguments.port
+    self.town = arguments.town
+    self.num_selected_spawn_point = arguments.num_selected_spawn_point
+
+  def spawn_world(self):
+    import carla
+
+    client = carla.Client(self.host, self.port)
+    client.set_timeout(5)
+
+    return CarlaWorld(client, high_quality=self.high_quality, dual_camera=self.dual_camera,
+                      num_selected_spawn_point=self.num_selected_spawn_point, town=self.town)