carla 0.14.1

Rust client library for Carla simulator
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80

//! Blueprint library example
//!
//! This example demonstrates how to query the blueprint library
//! and filter blueprints by category.
//!
//! Prerequisites:
//! - CARLA simulator must be running
//!
//! Run with:
//! ```bash
//! cargo run --example blueprints
//! ```

use carla::client::Client;

fn main() -> Result<(), Box<dyn std::error::Error>> {
    println!("Connecting to CARLA simulator...");
    let client = Client::connect("localhost", 2000, None)?;
    println!("Connected!");

    // Get the current world
    println!("\nGetting current world...");
    let world = client.world()?;
    println!("World ready!");

    let blueprint_library = world.blueprint_library()?;

    // Get all blueprints
    let all_blueprints = blueprint_library.filter("*")?;
    println!("\nTotal blueprints: {}", all_blueprints.len());

    // Filter vehicles
    let vehicles = blueprint_library.filter("vehicle.*")?;
    println!("\nVehicle blueprints: {}", vehicles.len());
    println!("First 5 vehicles:");
    for (i, bp) in vehicles.iter().take(5).enumerate() {
        println!("  {}: {}", i + 1, bp.id());

        // Show some tags
        let tags = bp.tags();
        if !tags.is_empty() {
            print!("     Tags:");
            for tag in tags.iter().take(3) {
                print!(" {}", tag);
            }
            println!();
        }
    }

    // Filter walkers/pedestrians
    let walkers = blueprint_library.filter("walker.pedestrian.*")?;
    println!("\nWalker blueprints: {}", walkers.len());
    println!("First 5 walkers:");
    for (i, bp) in walkers.iter().take(5).enumerate() {
        println!("  {}: {}", i + 1, bp.id());
    }

    // Filter sensors
    let sensors = blueprint_library.filter("sensor.*")?;
    println!("\nSensor blueprints: {}", sensors.len());
    println!("First 5 sensors:");
    for (i, bp) in sensors.iter().take(5).enumerate() {
        println!("  {}: {}", i + 1, bp.id());
    }

    // Find specific blueprint
    println!("\nSearching for Tesla Model 3...");
    if let Some(tesla) = blueprint_library.find("vehicle.tesla.model3")? {
        println!("Found: {}", tesla.id());

        println!("Tags:");
        for tag in tesla.tags().iter() {
            println!("  - {}", tag);
        }
    } else {
        println!("Tesla Model 3 not found");
    }

    Ok(())
}