code: def main():
      argparser = argparse.ArgumentParser(
          description="CARLA Manual Control Client RSS"
      )
      argparser.add_argument(
          "-v",
          "--verbose",
          action="store_true",
          dest="debug",
          help="print debug information",
      )
      argparser.add_argument(
          "--host",
          metavar="H",
          default="127.0.0.1",
          help="IP of the host server (default: 127.0.0.1)",
      )
      argparser.add_argument(
          "-p",
          "--port",
          metavar="P",
          default=2000,
          type=int,
          help="TCP port to listen to (default: 2000)",
      )
      argparser.add_argument(
          "-a",
          "--autopilot",
          action="store_true",
          help="enable autopilot",
      )
      argparser.add_argument(
          "--res",
          metavar="WIDTHxHEIGHT",
          default="1280x720",
          help="window resolution (default: 1280x720)",
      )
      argparser.add_argument(
          "--filter",
          metavar="PATTERN",
          default="vehicle.*",
          help='actor filter (default: "vehicle.*")',
      )
      argparser.add_argument(
          "--rolename",
          metavar="NAME",
          default="hero",
          help='actor role name (default: "hero")',
      )
      argparser.add_argument(
          "--externalActor",
          action="store_true",
          help="attaches to externally created actor by role name",
      )
      args = argparser.parse_args()
  
      args.width, args.height = [int(x) for x in args.res.split("x")]
  
      log_level = logging.DEBUG if args.debug else logging.INFO
      logging.basicConfig(
          format="%(levelname)s: %(message)s", level=log_level
      )
  
      logging.info("listening to server %s:%s", args.host, args.port)
  
      print(__doc__)
  
      signal.signal(signal.SIGINT, VehicleControl.signal_handler)
  
      try:
          game_loop(args)
  
      except KeyboardInterrupt:
          print("\nCancelled by user. Bye!")
  
imports: from __future__ import print_function
  import glob
  import os
  import sys
  import signal
  import carla
  from carla import ColorConverter
  import argparse
  import logging
  import math
  import random
  import weakref
  from rss_sensor import RssSensor
  from rss_visualization import RssUnstructuredSceneVisualizer, RssBoundingBoxVisualizer, RssStateVisualizer
label_desc: Use image node_id 2 for calling a global function with example usage: main() without return types