def _create_object(self,
uid,
type_id,
name,
attach_to,
spawn_pose,
carla_actor=None):
# check that the actor is not already created.
if carla_actor is not None and carla_actor.id in self.actors:
return None
if attach_to != 0:
if attach_to not in self.actors:
raise IndexError(
"Parent object {} not found".format(attach_to))
parent = self.actors[attach_to]
else:
parent = None
if type_id == TFSensor.get_blueprint_name():
actor = TFSensor(uid=uid, name=name, parent=parent, node=self.node)
elif type_id == OdometrySensor.get_blueprint_name():
actor = OdometrySensor(uid=uid,
name=name,
parent=parent,
node=self.node)
elif type_id == SpeedometerSensor.get_blueprint_name():
actor = SpeedometerSensor(uid=uid,
name=name,
parent=parent,
node=self.node)
elif type_id == MarkerSensor.get_blueprint_name():
actor = MarkerSensor(uid=uid,
name=name,
parent=parent,
node=self.node,
actor_list=self.actors)
elif type_id == ActorListSensor.get_blueprint_name():
actor = ActorListSensor(uid=uid,
name=name,
parent=parent,
node=self.node,
actor_list=self.actors)
elif type_id == ObjectSensor.get_blueprint_name():
actor = ObjectSensor(
uid=uid,
name=name,
parent=parent,
node=self.node,
actor_list=self.actors,
)
elif type_id == TrafficLightsSensor.get_blueprint_name():
actor = TrafficLightsSensor(
uid=uid,
name=name,
parent=parent,
node=self.node,
actor_list=self.actors,
)
elif type_id == OpenDriveSensor.get_blueprint_name():
actor = OpenDriveSensor(uid=uid,
name=name,
parent=parent,
node=self.node,
carla_map=self.world.get_map())
elif type_id == ActorControl.get_blueprint_name():
actor = ActorControl(uid=uid,
name=name,
parent=parent,
node=self.node)
elif carla_actor.type_id.startswith('traffic'):
if carla_actor.type_id == "traffic.traffic_light":
actor = TrafficLight(uid, name, parent, self.node, carla_actor)
else:
actor = Traffic(uid, name, parent, self.node, carla_actor)
elif carla_actor.type_id.startswith("vehicle"):
if carla_actor.attributes.get('role_name')\
in self.node.parameters['ego_vehicle']['role_name']:
actor = EgoVehicle(
uid, name, parent, self.node, carla_actor,
self.node._ego_vehicle_control_applied_callback)
else:
actor = Vehicle(uid, name, parent, self.node, carla_actor)
elif carla_actor.type_id.startswith("sensor"):
if carla_actor.type_id.startswith("sensor.camera"):
if carla_actor.type_id.startswith("sensor.camera.rgb"):
actor = RgbCamera(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("sensor.camera.depth"):
actor = DepthCamera(uid, name, parent, spawn_pose,
self.node, carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith(
"sensor.camera.semantic_segmentation"):
actor = SemanticSegmentationCamera(uid, name, parent,
spawn_pose, self.node,
carla_actor,
self.sync_mode)
elif carla_actor.type_id.startswith("sensor.camera.dvs"):
actor = DVSCamera(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
else:
actor = Camera(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("sensor.lidar"):
if carla_actor.type_id.endswith("sensor.lidar.ray_cast"):
actor = Lidar(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.endswith(
"sensor.lidar.ray_cast_semantic"):
actor = SemanticLidar(uid, name, parent, spawn_pose,
self.node, carla_actor,
self.sync_mode)
elif carla_actor.type_id.startswith("sensor.other.radar"):
actor = Radar(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("sensor.other.gnss"):
actor = Gnss(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("sensor.other.imu"):
actor = ImuSensor(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("sensor.other.collision"):
actor = CollisionSensor(uid, name, parent, spawn_pose,
self.node, carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("sensor.other.rss"):
actor = RssSensor(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("sensor.other.lane_invasion"):
actor = LaneInvasionSensor(uid, name, parent, spawn_pose,
self.node, carla_actor,
self.sync_mode)
else:
actor = Sensor(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("spectator"):
actor = Spectator(uid, name, parent, self.node, carla_actor)
elif carla_actor.type_id.startswith("walker"):
actor = Walker(uid, name, parent, self.node, carla_actor)
else:
actor = Actor(uid, name, parent, self.node, carla_actor)
self.actors[actor.uid] = actor
self.node.loginfo("Created {}(id={})".format(actor.__class__.__name__,
actor.uid))
return actor
def __init__(self, carla_world, params):
"""
Constructor
:param carla_world: carla world object
:type carla_world: carla.World
:param params: dict of parameters, see settings.yaml
:type params: dict
"""
rospy.init_node("carla_bridge", anonymous=True)
self.parameters = params
self.actors = {}
self.carla_world = carla_world
self.synchronous_mode_update_thread = None
# set carla world settings
self.carla_settings = carla_world.get_settings()
rospy.loginfo("synchronous_mode: {}".format(
self.parameters["synchronous_mode"]))
self.carla_settings.synchronous_mode = self.parameters[
"synchronous_mode"]
rospy.loginfo("fixed_delta_seconds: {}".format(
self.parameters["fixed_delta_seconds"]))
self.carla_settings.fixed_delta_seconds = self.parameters[
"fixed_delta_seconds"]
carla_world.apply_settings(self.carla_settings)
self.comm = Communication()
self.update_lock = Lock()
self.carla_control_queue = queue.Queue()
self.status_publisher = CarlaStatusPublisher(
self.carla_settings.synchronous_mode)
if self.carla_settings.synchronous_mode:
self.carla_run_state = CarlaControl.PLAY
self.carla_control_subscriber = \
rospy.Subscriber("/carla/control", CarlaControl,
lambda control: self.carla_control_queue.put(control.command))
self.synchronous_mode_update_thread = Thread(
target=self._synchronous_mode_update)
self.synchronous_mode_update_thread.start()
else:
self.timestamp_last_run = 0.0
# register callback to create/delete actors
self.update_child_actors_lock = Lock()
self.carla_world.on_tick(self._carla_update_child_actors)
# register callback to update actors
self.carla_world.on_tick(self._carla_time_tick)
self.pseudo_actors = []
# add map
self.pseudo_actors.append(
Map(carla_world=self.carla_world, communication=self.comm))
# add global object sensor
self.pseudo_actors.append(
ObjectSensor(parent=None,
communication=self.comm,
actor_list=self.actors,
filtered_id=None))
def _create_actor(self, carla_actor): # pylint: disable=too-many-branches,too-many-statements
"""
create an actor
"""
parent = None
if carla_actor.parent:
if carla_actor.parent.id in self.actors:
parent = self.actors[carla_actor.parent.id]
else:
parent = self._create_actor(carla_actor.parent)
actor = None
pseudo_actors = []
if carla_actor.type_id.startswith('traffic'):
if carla_actor.type_id == "traffic.traffic_light":
actor = TrafficLight(carla_actor, parent, self.comm)
else:
actor = Traffic(carla_actor, parent, self.comm)
elif carla_actor.type_id.startswith("vehicle"):
if carla_actor.attributes.get('role_name')\
in self.parameters['ego_vehicle']['role_name']:
ego_vehicle = EgoVehicle(carla_actor, parent, self.comm)
actor = ego_vehicle
pseudo_actors.append(
ObjectSensor(parent=ego_vehicle,
communication=self.comm,
actor_list=self.actors,
filtered_id=carla_actor.id))
else:
actor = Vehicle(carla_actor, parent, self.comm)
elif carla_actor.type_id.startswith("sensor"):
if carla_actor.type_id.startswith("sensor.camera"):
if carla_actor.type_id.startswith("sensor.camera.rgb"):
actor = RgbCamera(carla_actor, parent, self.comm,
self.carla_settings.synchronous_mode)
elif carla_actor.type_id.startswith("sensor.camera.depth"):
actor = DepthCamera(carla_actor, parent, self.comm,
self.carla_settings.synchronous_mode)
elif carla_actor.type_id.startswith(
"sensor.camera.semantic_segmentation"):
actor = SemanticSegmentationCamera(
carla_actor, parent, self.comm,
self.carla_settings.synchronous_mode)
else:
actor = Camera(carla_actor, parent, self.comm,
self.carla_settings.synchronous_mode)
elif carla_actor.type_id.startswith("sensor.lidar"):
actor = Lidar(carla_actor, parent, self.comm,
self.carla_settings.synchronous_mode)
elif carla_actor.type_id.startswith("sensor.other.gnss"):
actor = Gnss(carla_actor, parent, self.comm,
self.carla_settings.synchronous_mode)
elif carla_actor.type_id.startswith("sensor.other.collision"):
actor = CollisionSensor(carla_actor, parent, self.comm,
self.carla_settings.synchronous_mode)
elif carla_actor.type_id.startswith("sensor.other.lane_invasion"):
actor = LaneInvasionSensor(
carla_actor, parent, self.comm,
self.carla_settings.synchronous_mode)
else:
actor = Sensor(carla_actor, parent, self.comm,
self.carla_settings.synchronous_mode)
elif carla_actor.type_id.startswith("spectator"):
actor = Spectator(carla_actor, parent, self.comm)
elif carla_actor.type_id.startswith("walker"):
actor = Walker(carla_actor, parent, self.comm)
else:
actor = Actor(carla_actor, parent, self.comm)
rospy.loginfo("Created {}(id={}, parent_id={},"
" type={}, prefix={}, attributes={})".format(
actor.__class__.__name__, actor.get_id(),
actor.get_parent_id(), carla_actor.type_id,
actor.get_prefix(), carla_actor.attributes))
with self.update_lock:
self.actors[carla_actor.id] = actor
for pseudo_actor in pseudo_actors:
rospy.loginfo("Created {}(parent_id={}, prefix={})".format(
pseudo_actor.__class__.__name__, pseudo_actor.get_parent_id(),
pseudo_actor.get_prefix()))
with self.update_lock:
self.pseudo_actors.append(pseudo_actor)
return actor
def __init__(self, carla_world, params):
"""
Constructor
:param carla_world: carla world object
:type carla_world: carla.World
:param params: dict of parameters, see settings.yaml
:type params: dict
"""
# check CARLA version
dist = pkg_resources.get_distribution("carla")
if LooseVersion(dist.version) < LooseVersion(self.CARLA_VERSION):
raise ImportError(
"CARLA version {} or newer required. CARLA version found: {}".
format(self.CARLA_VERSION, dist))
self.parameters = params
self.actors = {}
self.pseudo_actors = []
self.carla_world = carla_world
self.synchronous_mode_update_thread = None
self.shutdown = Event()
# set carla world settings
self.carla_settings = carla_world.get_settings()
# workaround: settings can only applied within non-sync mode
if self.carla_settings.synchronous_mode:
self.carla_settings.synchronous_mode = False
carla_world.apply_settings(self.carla_settings)
rospy.loginfo("synchronous_mode: {}".format(
self.parameters["synchronous_mode"]))
self.carla_settings.synchronous_mode = self.parameters[
"synchronous_mode"]
rospy.loginfo("fixed_delta_seconds: {}".format(
self.parameters["fixed_delta_seconds"]))
self.carla_settings.fixed_delta_seconds = self.parameters[
"fixed_delta_seconds"]
carla_world.apply_settings(self.carla_settings)
self.comm = Communication()
self.update_lock = Lock()
self.carla_control_queue = queue.Queue()
self.status_publisher = CarlaStatusPublisher(
self.carla_settings.synchronous_mode,
self.carla_settings.fixed_delta_seconds)
# for waiting for ego vehicle control commands in synchronous mode,
# their ids are maintained in a list.
# Before tick(), the list is filled and the loop waits until the list is empty.
self._all_vehicle_control_commands_received = Event()
self._expected_ego_vehicle_control_command_ids = []
self._expected_ego_vehicle_control_command_ids_lock = Lock()
if self.carla_settings.synchronous_mode:
self.carla_run_state = CarlaControl.PLAY
self.carla_control_subscriber = \
rospy.Subscriber("/carla/control", CarlaControl,
lambda control: self.carla_control_queue.put(control.command))
self.synchronous_mode_update_thread = Thread(
target=self._synchronous_mode_update)
self.synchronous_mode_update_thread.start()
else:
self.timestamp_last_run = 0.0
self.update_actors_queue = queue.Queue(maxsize=1)
# start thread to update actors
self.update_actor_thread = Thread(
target=self._update_actors_thread)
self.update_actor_thread.start()
# create initially existing actors
self.update_actors_queue.put(
set([x.id for x in self.carla_world.get_snapshot()]))
# wait for first actors creation to be finished
self.update_actors_queue.join()
# register callback to update actors
self.on_tick_id = self.carla_world.on_tick(self._carla_time_tick)
# add world info
self.pseudo_actors.append(
WorldInfo(carla_world=self.carla_world, communication=self.comm))
# add global object sensor
self.pseudo_actors.append(
ObjectSensor(parent=None,
communication=self.comm,
actor_list=self.actors,
filtered_id=None))
self.debug_helper = DebugHelper(carla_world.debug)
# add traffic light pseudo sensor
self.pseudo_actors.append(
TrafficLightsSensor(parent=None,
communication=self.comm,
actor_list=self.actors))
def __init__(self, carla_world, params):
"""
Constructor
:param carla_world: carla world object
:type carla_world: carla.World
:param params: dict of parameters, see settings.yaml
:type params: dict
"""
self.parameters = params
self.actors = {}
self.pseudo_actors = []
self.carla_world = carla_world
self.synchronous_mode_update_thread = None
self.shutdown = Event()
# set carla world settings
self.carla_settings = carla_world.get_settings()
# workaround: settings can only applied within non-sync mode
if self.carla_settings.synchronous_mode:
self.carla_settings.synchronous_mode = False
carla_world.apply_settings(self.carla_settings)
rospy.loginfo("synchronous_mode: {}".format(
self.parameters["synchronous_mode"]))
self.carla_settings.synchronous_mode = self.parameters["synchronous_mode"]
rospy.loginfo("fixed_delta_seconds: {}".format(
self.parameters["fixed_delta_seconds"]))
self.carla_settings.fixed_delta_seconds = self.parameters["fixed_delta_seconds"]
carla_world.apply_settings(self.carla_settings)
self.update_lock = Lock()
self.carla_control_queue = queue.Queue()
# Communication topics
self.clock_publisher = rospy.Publisher('clock', Clock, queue_size=10)
self.tf_publisher = rospy.Publisher('tf', TFMessage, queue_size=100)
self.marker_publisher = rospy.Publisher('/carla/marker',
Marker,
queue_size=10)
self.actor_list_publisher = rospy.Publisher('/carla/actor_list',
CarlaActorList,
queue_size=10,
latch=True)
self.status_publisher = CarlaStatusPublisher(
self.carla_settings.synchronous_mode,
self.carla_settings.fixed_delta_seconds)
# for waiting for ego vehicle control commands in synchronous mode,
# their ids are maintained in a list.
# Before tick(), the list is filled and the loop waits until the list is empty.
self._all_vehicle_control_commands_received = Event()
self._expected_ego_vehicle_control_command_ids = []
self._expected_ego_vehicle_control_command_ids_lock = Lock()
if self.carla_settings.synchronous_mode:
self.carla_run_state = CarlaControl.PLAY
self.carla_control_subscriber = \
rospy.Subscriber("/carla/control", CarlaControl,
lambda control: self.carla_control_queue.put(control.command))
self.synchronous_mode_update_thread = Thread(
target=self._synchronous_mode_update)
self.synchronous_mode_update_thread.start()
else:
self.timestamp_last_run = 0.0
self.update_actors_queue = queue.Queue(maxsize=1)
# start thread to update actors
self.update_actor_thread = Thread(
target=self._update_actors_thread)
self.update_actor_thread.start()
# create initially existing actors
self.update_actors_queue.put(
set([x.id for x in self.carla_world.get_snapshot()]))
# wait for first actors creation to be finished
self.update_actors_queue.join()
# register callback to update actors
self.on_tick_id = self.carla_world.on_tick(self._carla_time_tick)
self.carla_weather_subscriber = \
rospy.Subscriber("/carla/weather_control",
CarlaWeatherParameters, self.on_weather_changed)
# add world info
self.pseudo_actors.append(WorldInfo(carla_world=self.carla_world,
node=self))
# add global object sensor
self.pseudo_actors.append(ObjectSensor(parent=None,
node=self,
actor_list=self.actors,
filtered_id=None))
self.debug_helper = DebugHelper(carla_world.debug)
# add traffic light pseudo sensor
self.pseudo_actors.append(TrafficLightsSensor(parent=None,
node=self,
actor_list=self.actors))
def _create_object(self,
uid,
type_id,
name,
parent,
spawn_pose,
carla_actor=None):
if type_id == TFSensor.get_blueprint_name():
actor = TFSensor(uid=uid, name=name, parent=parent, node=self.node)
elif type_id == OdometrySensor.get_blueprint_name():
actor = OdometrySensor(uid=uid,
name=name,
parent=parent,
node=self.node)
elif type_id == SpeedometerSensor.get_blueprint_name():
actor = SpeedometerSensor(uid=uid,
name=name,
parent=parent,
node=self.node)
elif type_id == MarkerSensor.get_blueprint_name():
actor = MarkerSensor(uid=uid,
name=name,
parent=parent,
node=self.node,
actor_list=self.actors)
elif type_id == ActorListSensor.get_blueprint_name():
actor = ActorListSensor(uid=uid,
name=name,
parent=parent,
node=self.node,
actor_list=self.actors)
elif type_id == ObjectSensor.get_blueprint_name():
actor = ObjectSensor(
uid=uid,
name=name,
parent=parent,
node=self.node,
actor_list=self.actors,
)
elif type_id == TrafficLightsSensor.get_blueprint_name():
actor = TrafficLightsSensor(
uid=uid,
name=name,
parent=parent,
node=self.node,
actor_list=self.actors,
)
elif type_id == OpenDriveSensor.get_blueprint_name():
actor = OpenDriveSensor(uid=uid,
name=name,
parent=parent,
node=self.node,
carla_map=self.world.get_map())
elif type_id == ActorControl.get_blueprint_name():
actor = ActorControl(uid=uid,
name=name,
parent=parent,
node=self.node)
elif carla_actor.type_id.startswith('traffic'):
if carla_actor.type_id == "traffic.traffic_light":
actor = TrafficLight(uid, name, parent, self.node, carla_actor)
else:
actor = Traffic(uid, name, parent, self.node, carla_actor)
elif carla_actor.type_id.startswith("vehicle"):
if carla_actor.attributes.get('role_name')\
in self.node.parameters['ego_vehicle']['role_name']:
actor = EgoVehicle(
uid, name, parent, self.node, carla_actor,
self.node._ego_vehicle_control_applied_callback)
else:
actor = Vehicle(uid, name, parent, self.node, carla_actor)
elif carla_actor.type_id.startswith("sensor"):
if carla_actor.type_id.startswith("sensor.camera"):
if carla_actor.type_id.startswith("sensor.camera.rgb"):
actor = RgbCamera(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("sensor.camera.depth"):
actor = DepthCamera(uid, name, parent, spawn_pose,
self.node, carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith(
"sensor.camera.semantic_segmentation"):
actor = SemanticSegmentationCamera(uid, name, parent,
spawn_pose, self.node,
carla_actor,
self.sync_mode)
elif carla_actor.type_id.startswith("sensor.camera.dvs"):
actor = DVSCamera(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
else:
actor = Camera(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("sensor.lidar"):
if carla_actor.type_id.endswith("sensor.lidar.ray_cast"):
actor = Lidar(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.endswith(
"sensor.lidar.ray_cast_semantic"):
actor = SemanticLidar(uid, name, parent, spawn_pose,
self.node, carla_actor,
self.sync_mode)
elif carla_actor.type_id.startswith("sensor.other.radar"):
actor = Radar(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("sensor.other.gnss"):
actor = Gnss(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("sensor.other.imu"):
actor = ImuSensor(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("sensor.other.collision"):
actor = CollisionSensor(uid, name, parent, spawn_pose,
self.node, carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("sensor.other.rss"):
actor = RssSensor(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("sensor.other.lane_invasion"):
actor = LaneInvasionSensor(uid, name, parent, spawn_pose,
self.node, carla_actor,
self.sync_mode)
else:
actor = Sensor(uid, name, parent, spawn_pose, self.node,
carla_actor, self.sync_mode)
elif carla_actor.type_id.startswith("spectator"):
actor = Spectator(uid, name, parent, self.node, carla_actor)
elif carla_actor.type_id.startswith("walker"):
actor = Walker(uid, name, parent, self.node, carla_actor)
else:
actor = Actor(uid, name, parent, self.node, carla_actor)
return actor