Race/agent.py at main · PoPGRI/Race · GitHub

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import carla
import time

class Agent():
    def __init__(self, vehicle=None):
        self.vehicle = vehicle

    def run_step(self, filtered_obstacles, waypoints, vel, transform, boundary):
        """
        Execute one step of navigation.

        Args:
        filtered_obstacles
            - Type:        List[carla.Actor(), ...]
            - Description: All actors except for EGO within sensoring distance
        waypoints
            - Type:         List[[x,y,z], ...]
            - Description:  List All future waypoints to reach in (x,y,z) format
        vel
            - Type:         carla.Vector3D
            - Description:  Ego's current velocity in (x, y, z) in m/s
        transform
            - Type:         carla.Transform
            - Description:  Ego's current transform
        boundary
            - Type:         List[List[left_boundry], List[right_boundry]]
            - Description:  left/right boundary each consists of 20 waypoints,
                            they defines the track boundary of the next 20 meters.

        Return: carla.VehicleControl()
        """
        # Actions to take during each simulation step
        # Feel Free to use carla API; however, since we already provide info to you, using API will only add to your delay time
        # Currently the timeout is set to 10s

        #
        print("Reach Customized Agent")
        control = carla.VehicleControl()
        control.throttle = 0.5
        return control