Navigate a vehicle to a destination

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Point-to-point autonomous driving. go drives the ego to a destination with a navigation agent that plans a route and follows it while avoiding obstacles and obeying (or ignoring, on request) traffic lights. route just plans the path.

This is distinct from the sibling driving skills: control-vehicle is manual actuator input; control-traffic is the Traffic Manager making cars roam; this drives one car to a specific place.

Instructions

Progress:
- [ ] Step 1: Check prerequisites (bash scripts/check_env.sh), clear FAILs (incl. agents import)
- [ ] Step 2: Have an ego (spawn-vehicles ego) and a destination (world-data/map-waypoints)
- [ ] Step 3: go (drive) — or route (plan only). Runs a tick loop until arrival/timeout

Commands need CARLA_HOST/CARLA_PORT + CARLA_ROOT from scripts/env.sh. Negative coordinates: use the = form (--to=-24,-57,0.6).

Step 1: Check prerequisites

bash scripts/check_env.sh

FAILs if the agents package isn't importable — set CARLA_ROOT to a carla checkout so PythonAPI/carla/agents is on PYTHONPATH.

Step 3: Navigate

source scripts/env.sh

# plan a route and draw it (no driving)
python3 scripts/navigate.py route --from=0,0,1 --to=-24,-57,1 --draw

# drive the ego there (BasicAgent, obeys lights)
python3 scripts/navigate.py go --to=-24,-57,1 --speed 25

# a cautious/aggressive style
python3 scripts/navigate.py go --to=-24,-57,1 --agent behavior --behavior aggressive

# ignore lights (e.g. an emergency run) and give it more time
python3 scripts/navigate.py go --to=100,20,1 --ignore-lights --seconds 120

go targets the ego (role hero) by default; --id/--filter for another vehicle. It blocks until the car arrives (agent.done()) or --seconds elapses.

Examples

Example 1: drive to a spot

User says: "drive the ego to (−24, −57)"

go --to=-24,-57,1. It plans, drives, and prints "arrived" on success.

Example 2: go to a resolved element

User says: "drive to the 4-way junction in the middle"

map-waypoints junctions --arms 4 → pick its centre → go --to=<centre>.

Example 3: just the route

User says: "what's the route from here to the depot?"

route --from=<here> --to=<depot> --draw → maneuver list + drawn path.

Troubleshooting

Problem: cannot import agents Cause: the agents package (checkout-only) isn't on PYTHONPATH. Solution: set CARLA_ROOT to a carla checkout; env.sh adds PythonAPI/carla.

Problem: it never arrives / stops at timeout Cause: unreachable destination, too little time, or stuck in traffic. Solution: verify the destination is on a road (map-waypoints waypoint), raise --seconds, or --ignore-vehicles to push through.

Problem: the car doesn't move in sync mode Cause: go ticks the world itself in sync mode; if another process also ticks, they fight. Solution: run one ticker. In async it just drives.

Problem: it stops at every red light forever Cause: dense traffic / lights. Solution: --ignore-lights (and/or the control-traffic-lights skill to free them).

Outputs

Server state — the vehicle drives to the destination (or a planned route + drawn overlay for route). No file. go reports arrival or timeout.

Detail (agent types, route planner, run-step loop, sync interaction) in references/navigation.md.