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spawn_point for CarlaDataProvider.request_new_actor should be optional when using random_location. #1113

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spawn_point for CarlaDataProvider.request_new_actor should be optional when using random_location. #1113

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88273a5
CDP request_new_actor new optional argument.
Daraan Jun 27, 2024
8b25865
Merge branch 'master' into request-new-random-actor
Daraan Oct 25, 2024
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6 changes: 5 additions & 1 deletion srunner/scenariomanager/carla_data_provider.py
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Original file line number Diff line number Diff line change
Expand Up @@ -759,12 +759,16 @@ def spawn_actor(bp, spawn_point, must_spawn=False, track_physics=None, attach_to
return actor

@staticmethod
def request_new_actor(model, spawn_point, rolename='scenario', autopilot=False,
def request_new_actor(model, spawn_point=None, rolename='scenario', autopilot=False,
random_location=False, color=None, actor_category="car",
attribute_filter=None, tick=True):
"""
This method tries to create a new actor, returning it if successful (None otherwise).
"""
if not spawn_point and not random_location:
raise ValueError("Either spawn_point or random_location must be set")
elif spawn_point and random_location:
print("INFO: request_new_actor : Both spawn_point and random_location are set. Omitting spawn_point.")
blueprint = CarlaDataProvider.create_blueprint(model, rolename, color, actor_category, attribute_filter)

if random_location:
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