Using the CARLA simulator¶
--simulator_host: Specifies the hostname where simulator is running.
--simulator_port: Specifies the port on which the simulator server is listening.
--simulator_fps: Specifies the frames per second the simulator must run at.
--simulator_town: Specifies the simulator town to use.
--simulator_weather: Sets the weather in the simulator.
--simulator_num_people: Specifies the number of people agents to spawn.
--simulator_num_vehicles: Specifies the number of vehicle agents to spawn.
--simulator_spawn_point_index: Specifies the spawning location of the ego-vehicle.
--simulator_camera_frequency: Specifies the frequency at which the cameras are publishing frames.
--simulator_gnss_frequency: Specifies the frequency at which the GNSS sensor is publishing readings.
--simulator_imu_frequency: Specifies the frequency at which the IMU sensor is publishing readings.
--simulator_lidar_frequency: Specifies the frequency at which the LiDARs are publishing point clouds.
--simulator_localization_frequency: Specifies the frequency at which pose messages are sent when using perfect localization.
--simulator_control_frequency: Speicifes the frequenc at which control commands are applied.