text: #!/usr/bin/env python
  
  # Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
  # Barcelona (UAB).
  #
  # This work is licensed under the terms of the MIT license.
  # For a copy, see <https://opensource.org/licenses/MIT>.
  
  import glob
  import os
  import sys
  
  try:
      sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
          sys.version_info.major,
          sys.version_info.minor,
          'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
  except IndexError:
      pass
  
  import carla
  
  import random
  import time
  
  
  def main():
      actor_list = []
  
      # In this tutorial script, we are going to add a vehicle to the simulation
      # and let it drive in autopilot. We will also create a camera attached to
      # that vehicle, and save all the images generated by the camera to disk.
  
      try:
          # First of all, we need to create the client that will send the requests
          # to the simulator. Here we'll assume the simulator is accepting
          # requests in the localhost at port 2000.
          client = carla.Client('localhost', 2000)
          client.set_timeout(2.0)
  
          # Once we have a client we can retrieve the world that is currently
          # running.
          world = client.get_world()
  
          # The world contains the list blueprints that we can use for adding new
          # actors into the simulation.
          blueprint_library = world.get_blueprint_library()
  
          # Now let's filter all the blueprints of type 'vehicle' and choose one
          # at random.
          bp = random.choice(blueprint_library.filter('vehicle'))
  
          # A blueprint contains the list of attributes that define a vehicle's
          # instance, we can read them and modify some of them. For instance,
          # let's randomize its color.
          if bp.has_attribute('color'):
              color = random.choice(bp.get_attribute('color').recommended_values)
              bp.set_attribute('color', color)
  
          # Now we need to give an initial transform to the vehicle. We choose a
          # random transform from the list of recommended spawn points of the map.
          transform = random.choice(world.get_map().get_spawn_points())
  
          # So let's tell the world to spawn the vehicle.
          vehicle = world.spawn_actor(bp, transform)
  
          # It is important to note that the actors we create won't be destroyed
          # unless we call their "destroy" function. If we fail to call "destroy"
          # they will stay in the simulation even after we quit the Python script.
          # For that reason, we are storing all the actors we create so we can
          # destroy them afterwards.
          actor_list.append(vehicle)
          print('created %s' % vehicle.type_id)
  
          # Let's put the vehicle to drive around.
          vehicle.set_autopilot(True)
  
          # Let's add now a "depth" camera attached to the vehicle. Note that the
          # transform we give here is now relative to the vehicle.
          camera_bp = blueprint_library.find('sensor.camera.depth')
          camera_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
          camera = world.spawn_actor(camera_bp, camera_transform, attach_to=vehicle)
          actor_list.append(camera)
          print('created %s' % camera.type_id)
  
          # Now we register the function that will be called each time the sensor
          # receives an image. In this example we are saving the image to disk
          # converting the pixels to gray-scale.
          cc = carla.ColorConverter.LogarithmicDepth
          camera.listen(lambda image: image.save_to_disk('_out/%06d.png' % image.frame, cc))
  
          # Oh wait, I don't like the location we gave to the vehicle, I'm going
          # to move it a bit forward.
          location = vehicle.get_location()
          location.x += 40
          vehicle.set_location(location)
          print('moved vehicle to %s' % location)
  
          # But the city now is probably quite empty, let's add a few more
          # vehicles.
          transform.location += carla.Location(x=40, y=-3.2)
          transform.rotation.yaw = -180.0
          for _ in range(0, 10):
              transform.location.x += 8.0
  
              bp = random.choice(blueprint_library.filter('vehicle'))
  
              # This time we are using try_spawn_actor. If the spot is already
              # occupied by another object, the function will return None.
              npc = world.try_spawn_actor(bp, transform)
              if npc is not None:
                  actor_list.append(npc)
                  npc.set_autopilot(True)
                  print('created %s' % npc.type_id)
  
          time.sleep(5)
  
      finally:
  
          print('destroying actors')
          camera.destroy()
          client.apply_batch([carla.command.DestroyActor(x) for x in actor_list])
          print('done.')
  
  
  if __name__ == '__main__':
  
      main()
  