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49 lidar pointcloud is 0 #50

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Merged
david-gasinski merged 2 commits into from
Aug 1, 2025
Merged

49 lidar pointcloud is 0 #50

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d68d3e3
fixed bug; lidar.raycast range was never set
david-gasinski Aug 1, 2025
c4fdfaa
slight refactor
david-gasinski Aug 1, 2025
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29 changes: 14 additions & 15 deletions aw_scenario_runner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -150,8 +150,21 @@ def run_scenario(

ego.prepare_ego()

logger.info("Updating world settings:")
logger.info("Loading route...")

try:
scenario = RouteScenario(
world=self.carla_world,
config=route_config,
debug_mode=self.DEBUG,
ego_vehicle=ego,
)
except Exception:
logger.info("Could not load Route Scenario")
traceback.print_exc()
return False

logger.info("Updating world settings:")
# tick asynchronously until then
settings = CarlaDataProvider.get_world().get_settings()
settings.synchronous_mode = True
Expand All @@ -169,20 +182,6 @@ def run_scenario(
tm.set_random_device_seed(int(self._tm_config["seed"])) # ADD TO CONFIG
tm.set_synchronous_mode(self._tm_config["sync"])

logger.info("Loading route...")

try:
scenario = RouteScenario(
world=self.carla_world,
config=route_config,
debug_mode=self.DEBUG,
ego_vehicle=ego,
)
except Exception:
logger.info("Could not load Route Scenario")
traceback.print_exc()
return False

logger.info("Starting scenario...")
try:
self.scenario_manager.load_scenario(scenario, self.aw_agent)
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1 change: 1 addition & 0 deletions srunner/tools/environment_parser.py
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,7 @@ def parse_ego_config(config: EnvironmentConfig, elem: Element) -> None:

elif sensor_type == "sensor.lidar.ray_cast":
sensor_obj = LidarRayCast()
sensor_obj.range = sensor.attrib.get("range", 0)
sensor_obj.channels = sensor.attrib.get("channels", 0)
sensor_obj.points_per_second = sensor.attrib.get("points_per_second", 0)
sensor_obj.upper_fov = sensor.attrib.get("upper_fov", 0.0)
Expand Down