Implementation of Actions (Steering, Acc) from Bark to Carla

[klemense1]

BehaviorModel output is trajectory. Ideally, Carla would accept a trajectory, but it doesn't.

Probably Carla action input is steering and Acc at higher update frequency
Do we need Bark ExecutionModel? Do some interpolation?
How to enable high frequency update based on trajectory?

[klemense1]

First Milestone:

• define some auto-controlled agents in CARLA
• define one manual controlled agent in CARLA
• control that agent from BARK using a very simple behavior model (lane following)

For this, I think it makes sense to narrow down the carla map to a street without any junctions

[klemense1]

The interfaces are sterring [-1, 1] and throttle [0,1] and brake [0,1].
https://carla.readthedocs.io/en/latest/python_api/#carlavehiclecontrol-class

Implement a controller for that.

[klemense1]

postponed