Updated deprecated Waypoint.is_intersection to is_junction

no_rendering_mode.py

@@ -700,7 +700,7 @@ def draw_topology(carla_topology, index):
                     True)
 
                 # Draw Lane Markings and Arrows
-                if not waypoint.is_intersection:
+                if not waypoint.is_junction:
                     draw_lane_marking(
                         map_surface,
                         waypoints,
@@ -725,7 +725,7 @@ def draw_topology(carla_topology, index):
             dist = 1.5
             to_pixel = lambda wp: world_to_pixel(wp.transform.location)
             for wp in carla_map.generate_waypoints(dist):
-                col = (0, 255, 255) if wp.is_intersection else (0, 255, 0)
+                col = (0, 255, 255) if wp.is_junction else (0, 255, 0)
                 for nxt in wp.next(dist):
                     pygame.draw.line(map_surface, col, to_pixel(wp), to_pixel(nxt), 2)
                 if wp.lane_change & carla.LaneChange.Right:

srunner/scenariomanager/carla_data_provider.py

@@ -467,7 +467,7 @@ def get_next_traffic_light(actor, use_cached_location=True):
         waypoint = CarlaDataProvider.get_map().get_waypoint(location)
         # Create list of all waypoints until next intersection
         list_of_waypoints = []
-        while waypoint and not waypoint.is_intersection:
+        while waypoint and not waypoint.is_junction:
             list_of_waypoints.append(waypoint)
             waypoint = waypoint.next(2.0)[0]
 

srunner/scenariomanager/scenarioatomics/atomic_criteria.py

@@ -1785,9 +1785,9 @@ def get_traffic_light_waypoints(self, traffic_light):
         # Advance them until the intersection
         wps = []
         for wpx in ini_wps:
-            while not wpx.is_intersection:
+            while not wpx.is_junction:
                 next_wp = wpx.next(0.5)[0]
-                if next_wp and not next_wp.is_intersection:
+                if next_wp and not next_wp.is_junction:
                     wpx = next_wp
                 else:
                     break

srunner/scenariomanager/scenarioatomics/atomic_trigger_conditions.py

@@ -769,7 +769,7 @@ def __init__(self, actor, distance, name="InTriggerDistanceToNextIntersection"):
         self._map = CarlaDataProvider.get_map()
 
         waypoint = self._map.get_waypoint(self._actor.get_location())
-        while waypoint and not waypoint.is_intersection:
+        while waypoint and not waypoint.is_junction:
             waypoint = waypoint.next(1)[-1]
 
         self._final_location = waypoint.transform.location

srunner/scenarios/maneuver_opposite_direction.py

@@ -107,7 +107,7 @@ def _initialize_actors(self, config):
 
         self._source_transform = second_actor_waypoint.transform
         sink_waypoint = second_actor_waypoint.next(1)[0]
-        while not sink_waypoint.is_intersection:
+        while not sink_waypoint.is_junction:
             sink_waypoint = sink_waypoint.next(1)[0]
         self._sink_location = sink_waypoint.transform.location
 

srunner/tools/scenario_helper.py

@@ -126,7 +126,7 @@ def get_crossing_point(actor):
     """
     wp_cross = CarlaDataProvider.get_map().get_waypoint(actor.get_location())
 
-    while not wp_cross.is_intersection:
+    while not wp_cross.is_junction:
         wp_cross = wp_cross.next(2)[0]
 
     crossing = carla.Location(x=wp_cross.transform.location.x,
@@ -197,7 +197,7 @@ def get_location_in_distance(actor, distance):
     """
     waypoint = CarlaDataProvider.get_map().get_waypoint(actor.get_location())
     traveled_distance = 0
-    while not waypoint.is_intersection and traveled_distance < distance:
+    while not waypoint.is_junction and traveled_distance < distance:
         waypoint_new = waypoint.next(1.0)[-1]
         traveled_distance += waypoint_new.transform.location.distance(waypoint.transform.location)
         waypoint = waypoint_new
@@ -213,7 +213,7 @@ def get_location_in_distance_from_wp(waypoint, distance, stop_at_junction=True):
     @return obtained location and the traveled distance
     """
     traveled_distance = 0
-    while not (waypoint.is_intersection and stop_at_junction) and traveled_distance < distance:
+    while not (waypoint.is_junction and stop_at_junction) and traveled_distance < distance:
         wp_next = waypoint.next(1.0)
         if wp_next:
             waypoint_new = wp_next[-1]
@@ -232,7 +232,7 @@ def get_waypoint_in_distance(waypoint, distance, stop_at_junction=True):
     @return obtained waypoint and the traveled distance
     """
     traveled_distance = 0
-    while not (waypoint.is_intersection and stop_at_junction) and traveled_distance < distance:
+    while not (waypoint.is_junction and stop_at_junction) and traveled_distance < distance:
         wp_next = waypoint.next(1.0)
         if wp_next:
             waypoint_new = wp_next[-1]
@@ -273,7 +273,7 @@ def generate_target_waypoint_list(waypoint, turn=0):
                 np.dot(v_1, v_2) / abs((np.linalg.norm(v_1) * np.linalg.norm(v_2))))
             if angle_wp < threshold:
                 break
-        elif reached_junction and not plan[-1][0].is_intersection:
+        elif reached_junction and not plan[-1][0].is_junction:
             break
 
     return plan, plan[-1][0]