How to use carla - 10 common examples

vehicle = world.spawn_actor(
            random.choice(blueprint_library.filter('vehicle.*')),
            start_pose)
        actor_list.append(vehicle)
        vehicle.set_simulate_physics(False)

        camera_rgb = world.spawn_actor(
            blueprint_library.find('sensor.camera.rgb'),
            carla.Transform(carla.Location(x=-5.5, z=2.8), carla.Rotation(pitch=-15)),
            attach_to=vehicle)
        actor_list.append(camera_rgb)

        camera_semseg = world.spawn_actor(
            blueprint_library.find('sensor.camera.semantic_segmentation'),
            carla.Transform(carla.Location(x=-5.5, z=2.8), carla.Rotation(pitch=-15)),
            attach_to=vehicle)
        actor_list.append(camera_semseg)

        # Create a synchronous mode context.
        with CarlaSyncMode(world, camera_rgb, camera_semseg, fps=50) as sync_mode:
            while True:
                if should_quit():
                    return
                clock.tick()
                t = time.time()

                # Advance the simulation and wait for the data.
                snapshot, image_rgb, image_semseg = sync_mode.tick(timeout=2.0)

                # Choose the next waypoint and update the car location.
                waypoint = random.choice(waypoint.next(1.5))

def game_loop(args):
    pygame.init()
    pygame.font.init()
    world = None

    try:
        client = carla.Client(args.host, args.port)
        client.set_timeout(2.0)

        display = pygame.display.set_mode(
            (args.width, args.height),
            pygame.HWSURFACE | pygame.DOUBLEBUF)

        hud = HUD(args.width, args.height)
        world = World(client.get_world(), hud, args)
        controller = KeyboardControl(world, args.autopilot)

        clock = pygame.time.Clock()
        while True:
            clock.tick_busy_loop(60)
            if controller.parse_events(client, world, clock):
                return
            world.tick(clock)

# Create a synchronous mode context.
        with CarlaSyncMode(world, camera_rgb, camera_semseg, fps=50) as sync_mode:
            while True:
                if should_quit():
                    return
                clock.tick()
                t = time.time()

                # Advance the simulation and wait for the data.
                snapshot, image_rgb, image_semseg = sync_mode.tick(timeout=2.0)

                # Choose the next waypoint and update the car location.
                waypoint = random.choice(waypoint.next(1.5))
                vehicle.set_transform(waypoint.transform)

                image_semseg.convert(carla.ColorConverter.CityScapesPalette)
                fps = round(1.0 / snapshot.timestamp.delta_seconds)

                # Draw the display.
                draw_image(display, image_rgb)
                draw_image(display, image_semseg, blend=True)
                display.blit(
                    font.render('% 5d FPS (real)' % clock.get_fps(), True, (255, 255, 255)),
                    (8, 10))
                display.blit(
                    font.render('% 5d FPS (simulated)' % fps, True, (255, 255, 255)),
                    (8, 28))
                pygame.display.flip()
                elapsed = time.time() - t
                print("Elapsed (ms):{:0.2f}".format(elapsed * 1000))

    finally:

poses = poses_tasks[iteration]
                vehicles = vehicles_tasks[iteration]
                pedestrians = pedestrians_tasks[iteration]

                conditions = CarlaSettings()
                conditions.set(
                    SendNonPlayerAgentsInfo=True,
                    NumberOfVehicles=vehicles,
                    NumberOfPedestrians=pedestrians,
                    WeatherId=weather
                )
                # Add all the cameras that were set for this experiments

                conditions.add_sensor(camera)

                experiment = Experiment()
                experiment.set(
                    Conditions=conditions,
                    Poses=poses,
                    Task=iteration,
                    Repetitions=1
                )
                experiments_vector.append(experiment)

        return experiments_vector

# For a copy, see .

# CORL experiment set.

from __future__ import print_function


from carla.driving_benchmark.experiment import Experiment
from carla.sensor import Camera
from carla.settings import CarlaSettings
from carla.driving_benchmark.experiment_suites.experiment_suite import ExperimentSuite


#TODO: maybe add aditional tasks ( NO dynamic obstacles for instace !)

class TestSuite(ExperimentSuite):

    def __init__(self):
        super(TestSuite, self).__init__('Town02')

    @property
    def train_weathers(self):
        return [1]
    @property
    def test_weathers(self):
        return [1]


    def _poses(self):


        return [[[19, 66], [79, 14]]]

try:
        m = world.get_map()
        start_pose = random.choice(m.get_spawn_points())
        waypoint = m.get_waypoint(start_pose.location)

        blueprint_library = world.get_blueprint_library()

        vehicle = world.spawn_actor(
            random.choice(blueprint_library.filter('vehicle.*')),
            start_pose)
        actor_list.append(vehicle)
        vehicle.set_simulate_physics(False)

        camera_rgb = world.spawn_actor(
            blueprint_library.find('sensor.camera.rgb'),
            carla.Transform(carla.Location(x=-5.5, z=2.8), carla.Rotation(pitch=-15)),
            attach_to=vehicle)
        actor_list.append(camera_rgb)

        camera_semseg = world.spawn_actor(
            blueprint_library.find('sensor.camera.semantic_segmentation'),
            carla.Transform(carla.Location(x=-5.5, z=2.8), carla.Rotation(pitch=-15)),
            attach_to=vehicle)
        actor_list.append(camera_semseg)

        # Create a synchronous mode context.
        with CarlaSyncMode(world, camera_rgb, camera_semseg, fps=30) as sync_mode:
            while True:
                if should_quit():
                    return
                clock.tick()

def game_loop(args):
    pygame.init()
    pygame.font.init()
    world = None

    try:
        client = carla.Client(args.host, args.port)
        client.set_timeout(4.0)

        display = pygame.display.set_mode(
            (args.width, args.height),
            pygame.HWSURFACE | pygame.DOUBLEBUF)

        hud = HUD(args.width, args.height)
        world = World(client.get_world(), hud, args.filter)
        # controller = KeyboardControl(world, False)

        if args.agent == "Roaming":
            agent = RoamingAgent(world.player)
        else:
            agent = BasicAgent(world.player)
            spawn_point = world.map.get_spawn_points()[0]
            # print(spawn_point.location.x,spawn_point.location.y,spawn_point.location.z)

def main(args):
    client = carla.Client(args.host, int(args.port))
    client.set_timeout(60.0)
    pygame.init()

    records = {}
    for town in sorted(client.get_available_maps()):
        world = client.load_world(town)

        # spectator pointing to the sky to reduce rendering impact
        spectator = world.get_spectator()
        spectator.set_transform(carla.Transform(carla.Location(z=500), carla.Rotation(pitch=90)))

        for weather in weathers():
            world.set_weather(weather)
            for sensors in define_sensors():
                list_fps = run_benchmark(world, sensors, number_locations, number_ticks, actor_list)
                mean, std = compute_mean_std(list_fps)

                sensor_str = ""
                for sensor in sensors:
                    sensor_str += (sensor['label'] + " ")

                record = {'sensors': sensor_str,
                          'weather': weather,
                          'town': town,
                          'samples': number_locations * number_ticks,
                          'fps_mean': mean,

pygame.font.init()
    world = None

    try:
        client = carla.Client(args.host, args.port)
        client.set_timeout(20.0)

        display = pygame.display.set_mode(
            (args.width, args.height),
            pygame.HWSURFACE | pygame.DOUBLEBUF)

        hud = HUD(args.width, args.height)
        world = World(client.get_world(), hud, args)
        controller = KeyboardControl(world, args.autopilot)
        control = carla.VehicleControl()
        velocity = carla.Vector3D()
        angular_velocity = carla.Vector3D()

        carla_world = client.get_world()
        clock = pygame.time.Clock()

        # totalSteps = 0
        # while True:
        #     clock.tick_busy_loop(60)
        #     totalSteps += 1
        #     world.tick(clock)
        #     world.render(display)
        #     pygame.display.flip()
        #     if (totalSteps >=30*2):
        #         break
        
        time.sleep(2)

def update_hud_info(self, clock):
        hero_mode_text = []
        if self.hero_actor is not None:
            hero_speed = self.hero_actor.get_velocity()
            hero_speed_text = 3.6 * math.sqrt(hero_speed.x ** 2 + hero_speed.y ** 2 + hero_speed.z ** 2)

            affected_traffic_light_text = 'None'
            if self.affected_traffic_light is not None:
                state = self.affected_traffic_light.state
                if state == carla.TrafficLightState.Green:
                    affected_traffic_light_text = 'GREEN'
                elif state == carla.TrafficLightState.Yellow:
                    affected_traffic_light_text = 'YELLOW'
                else:
                    affected_traffic_light_text = 'RED'

            affected_speed_limit_text = self.hero_actor.get_speed_limit()

            hero_mode_text = [
                'Hero Mode:                 ON',
                'Hero ID:              %7d' % self.hero_actor.id,
                'Hero Vehicle:  %14s' % get_actor_display_name(self.hero_actor, truncate=14),
                'Hero Speed:          %3d km/h' % hero_speed_text,
                'Hero Affected by:',
                '  Traffic Light: %12s' % affected_traffic_light_text,
                '  Speed Limit:       %3d km/h' % affected_speed_limit_text