I'm trying to simulate a multi-agent intersection scenario in CARLA. I've generated a trajectory for each vehicle in the scenario using Python. A trajectory is defined discretely by a sequence of waypoints, each with components (x, y, t).
In the CARLA documentation, I've seen two ways that vehicles can be manually controlled:
- Define a set of waypoints (without time components) on the road for a vehicle to follow using feedback control.
- Use VehicleControl on a vehicle to define motion using throttle and steering angle values.
I'm not sure how to use either of these strategies to execute the trajectories, since I need the timestamps to be conserved and I want to generate actions online. How can I do this?
