Set Custom Route

[obadul024]

Hi Luca,
Hope you are well.

I would like to create custom paths for my agent to train on. Any pointers or ideas I should look into.
The library you wrote is amazing and incredibly detailed. Thanks for that. But I am at a loss in trying to start to create my own path for the agent to follow.
Any help would be appreciated.
Thanks a bunch

[Luca96]

Hello,
I'm glad you like the lib.

So, you can control the path the vehicle should follow when you create the CARLA environment. These lines depict the implemented behavior, in which you can specify a specific "origin" and "destination" point on a certain map (CARLA town). The route is, by default, obtained through a RoutePlanner (i.e. an A* path-planner).

If you want to provide an entire custom path/route, you have to:

• Define a custom Route class, such that it wraps a list of [(carla.Waypoint, RoadOption)], in which the Waypoint is a location on the map, and the RoadOption is a high-level command (like steer right, turn left, etc) that the vehicle has to follow (can be even none).
• Once you have this, you set use_planner=False (see here), and
• Lastly, instantiate your own Route class like done here

Maybe the best approach (but probably more difficult) would be to define a new RoutePlanner class, but you have to mess with the networkx library.

Hope it helps.

[obadul024]

Thanks for this. Sorry for the late confirmation. I shall try it and reach out as soon as possible.
Thank you, this makes my life much easier.