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CARLA Simulator: Difference between revisions
→Fixed time step
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./CarlaUE4.sh -benchmark -fps=30 | ./CarlaUE4.sh -benchmark -fps=30 | ||
</pre> | </pre> | ||
Alternatively, you can do this on the client by modifying the time step. | |||
Alternatively, you can do this on the client by modifying the time step setting of your world. | |||
<pre> | <pre> | ||
settings = world.get_settings() | settings = world.get_settings() | ||
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</pre> | </pre> | ||
If your client needs to record data every frame, you may want to use synchronous mode | If your client needs to record data every frame, you may want to use [[#synchronous mode]]. | ||
==Synchronous Mode== | |||
Synchronous mode will force the server to wait for <code>world.tick()</code> on the client rather than run as fast as possible. | |||
This is ideal if you need to do something per-frame which causes your client to be slower than your server. | |||
<pre> | <pre> | ||
settings = world.get_settings() | settings = world.get_settings() | ||
settings.fixed_delta_seconds = 1 / 30 | |||
settings.synchronous_mode = True # Enables synchronous mode | settings.synchronous_mode = True # Enables synchronous mode | ||
world.apply_settings(settings) | world.apply_settings(settings) | ||
</pre> | </pre> | ||
If you are using the built in traffic manager for autopilot, you will need to set that to synchronous mode as well: | |||
<syntaxhighlight lang="python"> | |||
tm = client.get_trafficmanager() | |||
tm.set_synchronous_mode(True) | |||
</syntaxhighlight> | |||
See [https://github.com/carla-simulator/carla/blob/master/PythonAPI/examples/spawn_npc.py spawn_npc.py] for an example of synchronous mode. | |||