gistfile1.txt

# Settings for running the carlos component againt a carla
# server & ros master running on localhost...

carla:
    host: localhost
    port: 2000
    quality: epic
    timeout: 5

ros:
    master_uri: "http://localhost:11311"
    anonymous: true
    # Leave this false/none to give on ros setup an empty environment.
    # Or give it true to give it a copy of os.environ (the running programs
    # environment) or give it a dict to give it your own environment.
    environ: false
    clock:
        # TODO: how fast does this need to be???
        hertz: 60

# Where any sensor captures will get written to.
capture_dir: "captures"

# Key remapping (to whatever u want it to be).
keys:
    # Rotates which sensor is in primary view (vs secondary)
    sensor_left: left
    sensor_right: right
    # Only useful when manual mode enabled
    drive_right: d
    drive_left: a
    drive_faster: w
    drive_slower: s
    drive_brake: space
    drive_toggle_reverse: b
    # Generally useful
    quit:
        - escape
        - q
    toggle_manual: m
    toggle_recording: r
    toggle_ros: p

world:
    # This seems to be dependent on the carla world (this was taken
    # from an example); we will likely need to figure out other better
    # starting positions in time..
    secondary_vehicles:
        -  kind: chevrolet.impala
           autopilot: true
           start_pos:
               x: 200.0
               y: 199.0
               z: 40.0
        -  kind: tesla.model3
           autopilot: true
           start_pos:
               x: 200.0
               y: 195.8
               z: 40.0
               yaw: 180.0
        -  kind: ford.mustang
           autopilot: true
           start_pos:
               x: 190.0
               y: 195.8
               z: 40.0
               yaw: 180.0
        -  kind: dodgecharge.police
           autopilot: true
           start_pos:
               x: 190.0
               y: 199.0
               z: 40.0
    primary_vehicle:
        autopilot: true
        kind: nissan.micra
        start_pos:
            x: 180.0
            y: 199.0
            z: 40.0
        sensors:
            # Somewhat functions, but needs work...
            # - kind: lidar.ray_cast
            #   name: "Front middle lidar"
            #   transform:
            #       x: 0.5
            #       y: 0.0
            #       z: 1.40
            - kind: camera.rgb
              name: "Front middle camera"
              primary: true
              transform:
                  x: 0.5
                  y: 0.0
                  z: 1.40
              ros:
                  # Try to emit/publish 10 per second.
                  hertz: 10
                  base_topic: "/center_camera/image_color/"
                  queue_size: 10
              capture:
                  # Settings used to control recording (when on).
                  #
                  # Number of captures per second (ideal).
                  frequency: 1
                  format: png
                  filename_template: "camera_%(sensor_index)s_%(capture_num)s.%(format)s"
            - kind: camera.rgb
              name: "Front left camera"
              transform:
                  x: 0.5
                  y: -1.0
                  z: 1.40
            - kind: camera.rgb
              name: "Front right camera"
              transform:
                  x: 0.5
                  y: 1.0
                  z: 1.40
            - kind: camera.rgb
              name: "Rear middle camera"
              transform:
                  x: -1.25
                  y: 0.0
                  z: 1.40
                  yaw: 180

display:
    height: 864
    width: 1152
    smooth_scaling: false  # Turning this off saves some CPU during image resizes...
    watermark: false  # This adds a plus.ai watermark over the final render...
    fullscreen: false

fps:
    show: true
    max: 60

media:
    path: "media/"