Shell-Eco-marathon-APC-Competition/carla_config.yaml at main · HazemAbuelanin/Shell-Eco-marathon-APC-Competition · GitHub

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# CARLA Simulation Configuration
# This file holds all the main arguments to configure and set up your CARLA environment.
# NOTE: Setting any of these parameters on the command line will overwrite the arguments set here.

/**:
  ros__parameters:

    server_connection:
      host: "localhost"           # (Default: localhost)  IP of the CARLA server
      port: 2000                  # (Default: 2000)  Carla server port
      passive: False              # (Default: False)  Toggles passive mode for the simulation
      synchronous_mode: True      # (Default: True)  Toggles the simulation from synchronous to asynchronous mode
      synchronous_mode_wait_for_vehicle_control_command: False # (Default: False)
      fixed_delta_seconds: 0.05   # (Default: 0.05)
      timeout: 10.0               # (Default: 10.0)  Server timeout limit in seconds

    server_environment:
      map: "Town01_Opt"           # (Default: Town05_Opt)  Map to load on startup (either a predefined CARLA town (e.g. 'Town03_Opt'), or a OpenDRIVE map file)')
      map_layers:                 # Layers of the map that can be added or removed to improve performance (Note: Only works with "Opt" maps)
        all: False                # (Default: False)  Set to True to load all map layers regardless of values below
        decals: False             # (Default: False)
        foliage: True             # (Default: True)
        parked_vehicles: True    # (Default: False)
        particles: False          # (Default: False)
        walls: True               # (Default: True)

      traffic_generation:
        number_of_vehicles: 30     # (Default: 0)  Number of other vehicles to spawn in the simulations
        spawn_radius: 100.0       # (Default: 100.0)  Spawn radius from ego vehicle in meters
        seed: 0                   # (Default: 0)  Set random device seed and deterministic mode for Traffic Manager

    ego_vehicle:
      role_name: "ego_vehicle"    # (Default: ego_vehicle)  Role name of the ego vehicle
      spawn_point_ego_vehicle: "280.363739,-133.306351,1,0,0,0" # (Default: 0,-2.5,1,0,0,0)  "x,y,z,roll,pitch,yaw" map coordinates to spawn the vehicle (Use "None" for random spawn)
      spawn_sensors_only: False   # (Default: False)  Set to true to only spawn the vehicle sensors