Replace the vehicle

[CoderXuans]

@deepcs233
I want to replace the ego vehicle with an unmanned boat during evaluation. Should I make changes from both aspects: the code and the simulation?

[deepcs233]

I think you should modify the Carla simulator to support this feature:) The code may just need a little modification.

[CoderXuans]

@deepcs233
I successfully changed the ground material on the CARLA server side and then ran the evaluation script on the CARLA client. However, I am not sure if replacing the ego vehicle should also be done on the CARLA server side.

[CoderXuans]

In other words, from the BEV perspective, the ego vehicle currently appears as a black car. If I could change the color of the ego vehicle when running the evaluation code in the CARLA client, I feel that it would be easier to switch the ego vehicle to a ship.

[CoderXuans]

@deepcs233
Where are the ego vehicle and other vehicles on the road added when running the evaluation code leaderboard_evaluator.py?

[deepcs233]

Hi!
You can try to modify this function:

LMDrive/leaderboard/leaderboard/leaderboard_evaluator.py

Line 169 in 43fc2e9

def _prepare_ego_vehicles(self, ego_vehicles, wait_for_ego_vehicles=False):

, which is used to spawn the ego vehicle.