How to use set_attribute method in autotest

Best Python code snippet using autotest_python

carla_ego_vehicle.py

Source:carla_ego_vehicle.py

...86        """87        # Get vehicle blueprint.88        blueprint = secure_random.choice(89            self.world.get_blueprint_library().filter(self.actor_filter))90        blueprint.set_attribute('role_name', "{}".format(self.role_name))91        if blueprint.has_attribute('color'):92            color = secure_random.choice(blueprint.get_attribute('color').recommended_values)93            blueprint.set_attribute('color', color)94        # Spawn the vehicle.95        if not rospy.get_param('~spawn_ego_vehicle'):96            actors = self.world.get_actors().filter(self.actor_filter)97            for actor in actors:98                if actor.attributes['role_name'] == self.role_name:99                    self.player = actor100                    break101        else:102            if self.actor_spawnpoint:103                spawn_point = carla.Transform()104                spawn_point.location.x = self.actor_spawnpoint.position.x105                spawn_point.location.y = -self.actor_spawnpoint.position.y106                spawn_point.location.z = self.actor_spawnpoint.position.z + \107                    2  # spawn 2m above ground108                quaternion = (109                    self.actor_spawnpoint.orientation.x,110                    self.actor_spawnpoint.orientation.y,111                    self.actor_spawnpoint.orientation.z,112                    self.actor_spawnpoint.orientation.w113                )114                _, _, yaw = euler_from_quaternion(quaternion)115                spawn_point.rotation.yaw = -math.degrees(yaw)116                rospy.loginfo("Spawn {} at x={} y={} z={} yaw={}".format(self.role_name,117                                                                         spawn_point.location.x,118                                                                         spawn_point.location.y,119                                                                         spawn_point.location.z,120                                                                         spawn_point.rotation.yaw))121                if self.player is not None:122                    self.player.set_transform(spawn_point)123                while self.player is None:124                    self.player = self.world.try_spawn_actor(blueprint, spawn_point)125                    self.player_created = True126            else:127                if self.player is not None:128                    spawn_point = self.player.get_transform()129                    spawn_point.location.z += 2.0130                    spawn_point.rotation.roll = 0.0131                    spawn_point.rotation.pitch = 0.0132                    self.player.set_transform(spawn_point)133                while self.player is None:134                    spawn_points = self.world.get_map().get_spawn_points()135                    spawn_point = secure_random.choice(136                        spawn_points) if spawn_points else carla.Transform()137                    self.player = self.world.try_spawn_actor(blueprint, spawn_point)138                    self.player_created = True139        if self.player_created:140            # Read sensors from file141            if not os.path.exists(self.sensor_definition_file):142                raise RuntimeError(143                    "Could not read sensor-definition from {}".format(self.sensor_definition_file))144            json_sensors = None145            with open(self.sensor_definition_file) as handle:146                json_sensors = json.loads(handle.read())147            # Set up the sensors148            self.sensor_actors = self.setup_sensors(json_sensors["sensors"])149            self.player_created = False150    def setup_sensors(self, sensors):151        """152        Create the sensors defined by the user and attach them to the ego-vehicle153        :param sensors: list of sensors154        :return:155        """156        actors = []157        bp_library = self.world.get_blueprint_library()158        for sensor_spec in sensors:159            try:160                bp = bp_library.find(str(sensor_spec['type']))161                bp.set_attribute('role_name', str(sensor_spec['id']))162                if sensor_spec['type'].startswith('sensor.camera'):163                    bp.set_attribute('image_size_x', str(sensor_spec['width']))164                    bp.set_attribute('image_size_y', str(sensor_spec['height']))165                    bp.set_attribute('fov', str(sensor_spec['fov']))166                    try:167                        bp.set_attribute('sensor_tick', str(sensor_spec['sensor_tick']))168                    except KeyError:169                        pass170                    sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'],171                                                     z=sensor_spec['z'])172                    sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'],173                                                     roll=sensor_spec['roll'],174                                                     yaw=sensor_spec['yaw'])175                    if sensor_spec['type'].startswith('sensor.camera.rgb'):176                        bp.set_attribute('gamma', str(sensor_spec['gamma']))177                        bp.set_attribute('shutter_speed', str(sensor_spec['shutter_speed']))178                        bp.set_attribute('iso', str(sensor_spec['iso']))179                        bp.set_attribute('fstop', str(sensor_spec['fstop']))180                        bp.set_attribute('min_fstop', str(sensor_spec['min_fstop']))181                        bp.set_attribute('blade_count', str(sensor_spec['blade_count']))182                        bp.set_attribute('exposure_mode', str(sensor_spec['exposure_mode']))183                        bp.set_attribute('exposure_compensation', str(184                            sensor_spec['exposure_compensation']))185                        bp.set_attribute('exposure_min_bright', str(186                            sensor_spec['exposure_min_bright']))187                        bp.set_attribute('exposure_max_bright', str(188                            sensor_spec['exposure_max_bright']))189                        bp.set_attribute('exposure_speed_up', str(sensor_spec['exposure_speed_up']))190                        bp.set_attribute('exposure_speed_down', str(191                            sensor_spec['exposure_speed_down']))192                        bp.set_attribute('calibration_constant', str(193                            sensor_spec['calibration_constant']))194                        bp.set_attribute('focal_distance', str(sensor_spec['focal_distance']))195                        bp.set_attribute('blur_amount', str(sensor_spec['blur_amount']))196                        bp.set_attribute('blur_radius', str(sensor_spec['blur_radius']))197                        bp.set_attribute('motion_blur_intensity', str(198                            sensor_spec['motion_blur_intensity']))199                        bp.set_attribute('motion_blur_max_distortion', str(200                            sensor_spec['motion_blur_max_distortion']))201                        bp.set_attribute('motion_blur_min_object_screen_size', str(202                            sensor_spec['motion_blur_min_object_screen_size']))203                        bp.set_attribute('slope', str(sensor_spec['slope']))204                        bp.set_attribute('toe', str(sensor_spec['toe']))205                        bp.set_attribute('shoulder', str(sensor_spec['shoulder']))206                        bp.set_attribute('black_clip', str(sensor_spec['black_clip']))207                        bp.set_attribute('white_clip', str(sensor_spec['white_clip']))208                        bp.set_attribute('temp', str(sensor_spec['temp']))209                        bp.set_attribute('tint', str(sensor_spec['tint']))210                        bp.set_attribute('chromatic_aberration_intensity', str(211                            sensor_spec['chromatic_aberration_intensity']))212                        bp.set_attribute('chromatic_aberration_offset', str(213                            sensor_spec['chromatic_aberration_offset']))214                        bp.set_attribute('enable_postprocess_effects', str(215                            sensor_spec['enable_postprocess_effects']))216                        bp.set_attribute('lens_circle_falloff', str(217                            sensor_spec['lens_circle_falloff']))218                        bp.set_attribute('lens_circle_multiplier', str(219                            sensor_spec['lens_circle_multiplier']))220                        bp.set_attribute('lens_k', str(sensor_spec['lens_k']))221                        bp.set_attribute('lens_kcube', str(sensor_spec['lens_kcube']))222                        bp.set_attribute('lens_x_size', str(sensor_spec['lens_x_size']))223                        bp.set_attribute('lens_y_size', str(sensor_spec['lens_y_size']))224                elif sensor_spec['type'].startswith('sensor.lidar'):225                    bp.set_attribute('range', str(sensor_spec['range']))226                    bp.set_attribute('rotation_frequency', str(sensor_spec['rotation_frequency']))227                    bp.set_attribute('channels', str(sensor_spec['channels']))228                    bp.set_attribute('upper_fov', str(sensor_spec['upper_fov']))229                    bp.set_attribute('lower_fov', str(sensor_spec['lower_fov']))230                    bp.set_attribute('points_per_second', str(sensor_spec['points_per_second']))231                    try:232                        bp.set_attribute('sensor_tick', str(sensor_spec['sensor_tick']))233                    except KeyError:234                        pass235                    sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'],236                                                     z=sensor_spec['z'])237                    sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'],238                                                     roll=sensor_spec['roll'],239                                                     yaw=sensor_spec['yaw'])240                elif sensor_spec['type'].startswith('sensor.other.gnss'):241                    sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'],242                                                     z=sensor_spec['z'])243                    sensor_rotation = carla.Rotation()244                    bp.set_attribute('noise_alt_stddev', str(sensor_spec['noise_alt_stddev']))245                    bp.set_attribute('noise_lat_stddev', str(sensor_spec['noise_lat_stddev']))246                    bp.set_attribute('noise_lon_stddev', str(sensor_spec['noise_lon_stddev']))247                    bp.set_attribute('noise_alt_bias', str(sensor_spec['noise_alt_bias']))248                    bp.set_attribute('noise_lat_bias', str(sensor_spec['noise_lat_bias']))249                    bp.set_attribute('noise_lon_bias', str(sensor_spec['noise_lon_bias']))250                elif sensor_spec['type'].startswith('sensor.other.imu'):251                    sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'],252                                                     z=sensor_spec['z'])253                    sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'],254                                                     roll=sensor_spec['roll'],255                                                     yaw=sensor_spec['yaw'])256                    bp.set_attribute('noise_accel_stddev_x',257                                     str(sensor_spec['noise_accel_stddev_x']))258                    bp.set_attribute('noise_accel_stddev_y',259                                     str(sensor_spec['noise_accel_stddev_y']))260                    bp.set_attribute('noise_accel_stddev_z',261                                     str(sensor_spec['noise_accel_stddev_z']))262                    bp.set_attribute('noise_gyro_stddev_x', str(sensor_spec['noise_gyro_stddev_x']))263                    bp.set_attribute('noise_gyro_stddev_y', str(sensor_spec['noise_gyro_stddev_y']))264                    bp.set_attribute('noise_gyro_stddev_z', str(sensor_spec['noise_gyro_stddev_z']))265                    bp.set_attribute('noise_gyro_bias_x', str(sensor_spec['noise_gyro_bias_x']))266                    bp.set_attribute('noise_gyro_bias_y', str(sensor_spec['noise_gyro_bias_y']))267                    bp.set_attribute('noise_gyro_bias_z', str(sensor_spec['noise_gyro_bias_z']))268                elif sensor_spec['type'].startswith('sensor.other.radar'):269                    sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'],270                                                     z=sensor_spec['z'])271                    sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'],272                                                     roll=sensor_spec['roll'],273                                                     yaw=sensor_spec['yaw'])274                    bp.set_attribute('horizontal_fov', str(sensor_spec['horizontal_fov']))275                    bp.set_attribute('vertical_fov', str(sensor_spec['vertical_fov']))276                    bp.set_attribute('points_per_second', str(sensor_spec['points_per_second']))277                    bp.set_attribute('range', str(sensor_spec['range']))278            except KeyError as e:279                rospy.logfatal(280                    "Sensor will not be spawned, because sensor spec is invalid: '{}'".format(e))281                continue282            # create sensor283            sensor_transform = carla.Transform(sensor_location, sensor_rotation)284            sensor = self.world.spawn_actor(bp, sensor_transform,285                                            attach_to=self.player)286            actors.append(sensor)287        return actors288    @abstractmethod289    def sensors(self):290        """291        return a list of sensors attached...

carla_infrastructure.py

Source:carla_infrastructure.py

...51        bp_library = self.world.get_blueprint_library()52        for sensor_spec in sensors:53            try:54                bp = bp_library.find(str(sensor_spec['type']))55                bp.set_attribute('role_name', str(sensor_spec['id']))56                if sensor_spec['type'].startswith('sensor.camera'):57                    bp.set_attribute('image_size_x', str(sensor_spec['width']))58                    bp.set_attribute(59                        'image_size_y', str(sensor_spec['height']))60                    bp.set_attribute('fov', str(sensor_spec['fov']))61                    bp.set_attribute('gamma', str(sensor_spec['gamma']))62                    bp.set_attribute('shutter_speed', str(63                        sensor_spec['shutter_speed']))64                    bp.set_attribute('iso', str(sensor_spec['iso']))65                    bp.set_attribute('fstop', str(sensor_spec['fstop']))66                    bp.set_attribute('min_fstop', str(67                        sensor_spec['min_fstop']))68                    bp.set_attribute('blade_count', str(69                        sensor_spec['blade_count']))70                    bp.set_attribute('exposure_mode', str(71                        sensor_spec['exposure_mode']))72                    bp.set_attribute('exposure_compensation', str(73                        sensor_spec['exposure_compensation']))74                    bp.set_attribute('exposure_min_bright', str(75                        sensor_spec['exposure_min_bright']))76                    bp.set_attribute('exposure_max_bright', str(77                        sensor_spec['exposure_max_bright']))78                    bp.set_attribute('exposure_speed_up', str(79                        sensor_spec['exposure_speed_up']))80                    bp.set_attribute('exposure_speed_down', str(81                        sensor_spec['exposure_speed_down']))82                    bp.set_attribute('calibration_constant', str(83                        sensor_spec['calibration_constant']))84                    bp.set_attribute('focal_distance', str(85                        sensor_spec['focal_distance']))86                    bp.set_attribute('blur_amount', str(87                        sensor_spec['blur_amount']))88                    bp.set_attribute('blur_radius', str(89                        sensor_spec['blur_radius']))90                    bp.set_attribute('motion_blur_intensity', str(91                        sensor_spec['motion_blur_intensity']))92                    bp.set_attribute('motion_blur_max_distortion', str(93                        sensor_spec['motion_blur_max_distortion']))94                    bp.set_attribute('motion_blur_min_object_screen_size', str(95                        sensor_spec['motion_blur_min_object_screen_size']))96                    bp.set_attribute('slope', str(sensor_spec['slope']))97                    bp.set_attribute('toe', str(sensor_spec['toe']))98                    bp.set_attribute('shoulder', str(sensor_spec['shoulder']))99                    bp.set_attribute('black_clip', str(100                        sensor_spec['black_clip']))101                    bp.set_attribute('white_clip', str(102                        sensor_spec['white_clip']))103                    bp.set_attribute('temp', str(sensor_spec['temp']))104                    bp.set_attribute('tint', str(sensor_spec['tint']))105                    bp.set_attribute('chromatic_aberration_intensity', str(106                        sensor_spec['chromatic_aberration_intensity']))107                    bp.set_attribute('chromatic_aberration_offset', str(108                        sensor_spec['chromatic_aberration_offset']))109                    bp.set_attribute('enable_postprocess_effects', str(110                        sensor_spec['enable_postprocess_effects']))111                    bp.set_attribute('lens_circle_falloff', str(112                        sensor_spec['lens_circle_falloff']))113                    bp.set_attribute('lens_circle_multiplier', str(114                        sensor_spec['lens_circle_multiplier']))115                    bp.set_attribute('lens_k', str(sensor_spec['lens_k']))116                    bp.set_attribute('lens_kcube', str(117                        sensor_spec['lens_kcube']))118                    bp.set_attribute('lens_x_size', str(119                        sensor_spec['lens_x_size']))120                    bp.set_attribute('lens_y_size', str(121                        sensor_spec['lens_y_size']))122                    sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'],123                                                     z=sensor_spec['z'])124                    sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'],125                                                     roll=sensor_spec['roll'],126                                                     yaw=sensor_spec['yaw'])127                elif sensor_spec['type'].startswith('sensor.lidar'):128                    bp.set_attribute('range', str(sensor_spec['range']))129                    bp.set_attribute('rotation_frequency', str(sensor_spec['rotation_frequency']))130                    bp.set_attribute('channels', str(sensor_spec['channels']))131                    bp.set_attribute('upper_fov', str(sensor_spec['upper_fov']))132                    bp.set_attribute('lower_fov', str(sensor_spec['lower_fov']))133                    bp.set_attribute('points_per_second', str(sensor_spec['points_per_second']))134                    sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'],135                                                     z=sensor_spec['z'])136                    sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'],137                                                     roll=sensor_spec['roll'],138                                                     yaw=sensor_spec['yaw'])139                elif sensor_spec['type'].startswith('sensor.other.gnss'):140                    sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'],141                                                     z=sensor_spec['z'])142                    sensor_rotation = carla.Rotation()143                elif sensor_spec['type'].startswith('sensor.other.imu'):144                    sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'],145                                                     z=sensor_spec['z'])146                    sensor_rotation = carla.Rotation()147                elif sensor_spec['type'].startswith('sensor.other.radar'):148                    sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'],149                                                     z=sensor_spec['z'])150                    sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'],151                                                     roll=sensor_spec['roll'],152                                                     yaw=sensor_spec['yaw'])153                    bp.set_attribute('horizontal_fov', str(sensor_spec['horizontal_fov']))154                    bp.set_attribute('vertical_fov', str(sensor_spec['vertical_fov']))155                    bp.set_attribute('points_per_second', str(sensor_spec['points_per_second']))156                    bp.set_attribute('range', str(sensor_spec['range']))157            except KeyError as e:158                rospy.logfatal(159                    "Sensor will not be spawned, because sensor spec is invalid: '{}'".format(e))160                continue161            # create sensor162            sensor_transform = carla.Transform(sensor_location, sensor_rotation)163            sensor = self.world.spawn_actor(bp, sensor_transform)164            actors.append(sensor)165        return actors166    def destroy(self):167        """168        destroy the current ego vehicle and its sensors169        """170        for i, _ in enumerate(self.sensor_actors):...

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