Simulation¶
Using the CARLA simulator¶
Important flags¶
--simulator_host
: Specifies the hostname where simulator is running.--simulator_port
: Specifies the port on which the simulator server is listening.--simulator_mode
:--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.