Carla: Loading multiple maps in sequence

[felipecode]

The following code excerpt fails:

import carla
client = carla.Client('localhost', int(2000))
client.set_timeout(25.0)
world = client.load_world('Town01')
settings = world.get_settings()
settings.synchronous_mode = True
world.apply_settings(settings)

world = client.load_world('Town02')

Basically it seems that you need to call world.tick() before loading another
map. I think map loading should not need to wait for client synchronization.

[fedor-chervinskii]

Hi @felipecode, I've just experienced the same behavior, and it turns out that calling a tick (and waiting for it) is not enough in my case. The only workaround I found is to switch synchronous mode off and then after loading a map switch it back on.

So basically the issue here is that re-loading a map is not working in synchronous mode.

[felipecode]

Yep, Just tick is not working. And if the client disconect without removing the synch mode you cannot reconect.

[pawel-ziecina]

alternatively you can send "asynchronously" request for tick to server, ex:

threading.Timer(1., world.tick).start()
world = client.load_world('Town02')

But its rather temporary fix :)

[nsubiron]

It seems we forgot to reset the settings after a new world is loaded, the intended behaviour was to reload the map with default settings (because a fresh new map is created), but they were not properly notified to the engine.

The following works now (also without ticking in between).

client = carla.Client('localhost', 2000)
client.set_timeout(2.0)

world = client.get_world()

while True:
    print('new world: enable sync mode.')
    world.apply_settings(carla.WorldSettings(synchronous_mode=True))

    for _ in range(0, 10):
        time.sleep(1)
        world.tick()
        world.wait_for_tick()
        print('tick!')

    world = client.reload_world()