refactor

Author: david-gasinski

aw_scenario_runner.py

@@ -120,17 +120,38 @@ def run_scenario(
         self.carla_world = self.carla_client.get_world()
         self.carla_client.load_world(env_config.town)
 
+        logger.info("Updating world settings:")
+        # tick asynchronously until then
+        settings = self.carla_world.get_settings()
+        settings.synchronous_mode = True
+        settings.fixed_delta_seconds = self._carla_config["fixed_delta_seconds"]
+        self.carla_world.apply_settings(settings)
+
+        logger.info(f"{settings.__str__()}")
+
+        if self._tm_config["active"]:
+            logger.info("Loading Traffic Manager...")
+            tm_port = int(self._tm_config["port"])  # type: ignore
+            CarlaDataProvider.set_traffic_manager_port(tm_port)
+            tm = self.carla_client.get_trafficmanager(tm_port)
+
+            tm.set_random_device_seed(int(self._tm_config["seed"]))  # ADD TO CONFIG
+            tm.set_synchronous_mode(self._tm_config["sync"])
+
+        # update the world
+        CarlaDataProvider.set_world(self.carla_world)
+
         logger.info("Spawning ego...")
         ego = EgoVehicle(env_config)
         self.ego_vehicles.append(ego.spawn())
         logger.info("Spawned ego...")
 
-        self.carla_world.wait_for_tick()
+        self.carla_world.tick()
 
         logger.info("Setting up sensor configuration...")
         ego.setup_sensors()
 
-        self.carla_world.wait_for_tick()
+        self.carla_world.tick()
 
         if not self.DEV_MODE:
             logger.info("Loading Autoware agent")
@@ -149,27 +170,6 @@ def run_scenario(
         ego.prepare_ego()
 
         logger.info("Loading route...")
-        logger.info("Updating world settings:")
-
-        # tick asynchronously until then
-        settings = self.carla_world.get_settings()
-        settings.synchronous_mode = True
-        settings.fixed_delta_seconds = self._carla_config["fixed_delta_seconds"]
-        self.carla_world.apply_settings(settings)
-
-        logger.info(f"{settings.__str__()}")
-
-        if self._tm_config["active"]:
-            logger.info("Loading Traffic Manager...")
-            tm_port = int(self._tm_config["port"])  # type: ignore
-            CarlaDataProvider.set_traffic_manager_port(tm_port)
-            tm = self.carla_client.get_trafficmanager(tm_port)
-
-            tm.set_random_device_seed(int(self._tm_config["seed"]))  # ADD TO CONFIG
-            tm.set_synchronous_mode(self._tm_config["sync"])
-
-        # update the world
-        CarlaDataProvider.set_world(self.carla_world)
 
         try:
             scenario = RouteScenario(