def main(args=None): """ main function :return: """ ros_init(args) controller = None try: executor = MultiThreadedExecutor() controller = CarlaAdAgent() executor.add_node(controller) update_timer = controller.new_timer( 0.05, lambda timer_event=None: controller.run_step()) controller.spin() except (ROSInterruptException, ROSException) as e: if ros_ok(): logwarn("ROS Error during exection: {}".format(e)) except KeyboardInterrupt: loginfo("User requested shut down.") finally: if controller is not None: stopping_speed = Float64() stopping_speed.data = 0.0 controller.speed_command_publisher.publish(stopping_speed) ros_shutdown()
def main(args=None): """ main function :return: """ roscomp.init("local_planner", args=args) local_planner = None update_timer = None try: local_planner = LocalPlanner() roscomp.on_shutdown(local_planner.emergency_stop) update_timer = local_planner.new_timer( local_planner.control_time_step, lambda timer_event=None: local_planner.run_step()) local_planner.spin() except KeyboardInterrupt: pass finally: roscomp.loginfo('Local planner shutting down.') roscomp.shutdown()
def main(args=None): """ main function :return: """ roscomp.init("ad_agent", args=args) controller = None try: executor = roscomp.executors.MultiThreadedExecutor() controller = CarlaAdAgent() executor.add_node(controller) roscomp.on_shutdown(controller.emergency_stop) update_timer = controller.new_timer( 0.05, lambda timer_event=None: controller.run_step()) controller.spin() except (ROSInterruptException, ROSException) as e: if roscomp.ok(): roscomp.logwarn("ROS Error during exection: {}".format(e)) except KeyboardInterrupt: roscomp.loginfo("User requested shut down.") finally: roscomp.shutdown()
def main(args=None): """ main function :return: """ ros_init(args) local_planner = None update_timer = None try: local_planner = LocalPlanner() if ROS_VERSION == 1: local_planner.on_shutdown(local_planner.emergency_stop) update_timer = local_planner.new_timer( local_planner.control_time_step, lambda timer_event=None: local_planner.run_step()) local_planner.spin() except KeyboardInterrupt: pass finally: loginfo('Local planner shutting down.') if update_timer: if ROS_VERSION == 1: update_timer.shutdown() else: update_timer.destroy() if ROS_VERSION == 2: local_planner.emergency_stop() local_planner.shutdown()
def main(args=None): """ main function :return: """ ros_init(args) scenario_runner = CarlaRosScenarioRunner() if ROS_VERSION == 2: spin_thread = threading.Thread(target=scenario_runner.spin, daemon=True) spin_thread.start() try: scenario_runner.run() except KeyboardInterrupt: loginfo("User requested shut down.") finally: if scenario_runner._scenario_runner.is_running(): scenario_runner.loginfo( "Scenario Runner still running. Shutting down.") scenario_runner._scenario_runner.shutdown() del scenario_runner ros_shutdown() if ROS_VERSION == 2: spin_thread.join()
def main(args=None): """ main function :return: """ ros_init(args) controller = None try: controller = CarlaAdAgent() while ros_ok(): time.sleep(0.01) if ROS_VERSION == 2: rclpy.spin_once(controller) controller.run_step() except (ROSInterruptException, ROSException) as e: if ros_ok(): logwarn("ROS Error during exection: {}".format(e)) except KeyboardInterrupt: loginfo("User requested shut down.") finally: if controller is not None: stopping_speed = Float64() stopping_speed.data = 0.0 controller.speed_command_publisher.publish(stopping_speed) ros_shutdown()
def main(): """ main function """ roscomp.init("set_initial_pose") try: set_initial_pose_node = SetInitialPose() set_initial_pose_node.spin() except KeyboardInterrupt: roscomp.loginfo("Cancelled by user.") finally: roscomp.shutdown()
def main(args=None): """ main function """ roscomp.init('carla_waypoint_publisher', args) waypoint_converter = None try: waypoint_converter = CarlaToRosWaypointConverter() waypoint_converter.spin() except (RuntimeError, ROSException): pass except KeyboardInterrupt: roscomp.loginfo("User requested shut down.") finally: roscomp.loginfo("Shutting down.") if waypoint_converter: waypoint_converter.destroy() roscomp.shutdown()
def main(args=None): """ main function """ roscomp.init("manual_control", args=args) # resolution should be similar to spawned camera with role-name 'view' resolution = {"width": 800, "height": 600} pygame.init() pygame.font.init() pygame.display.set_caption("CARLA ROS manual control") try: display = pygame.display.set_mode( (resolution['width'], resolution['height']), pygame.HWSURFACE | pygame.DOUBLEBUF) manual_control_node = ManualControl(resolution) clock = pygame.time.Clock() executor = roscomp.executors.MultiThreadedExecutor() executor.add_node(manual_control_node) spin_thread = Thread(target=manual_control_node.spin) spin_thread.start() while roscomp.ok(): clock.tick_busy_loop(60) if manual_control_node.render(clock, display): return pygame.display.flip() except KeyboardInterrupt: roscomp.loginfo("User requested shut down.") finally: roscomp.shutdown() spin_thread.join() pygame.quit()
def main(args=None): """ main function """ ros_init(args) waypoint_converter = None try: waypoint_converter = CarlaToRosWaypointConverter() if ROS_VERSION == 1: waypoint_converter.spin() else: spin_thread = threading.Thread(target=waypoint_converter.spin) spin_thread.start() spin_thread.join() except (RuntimeError, ROSException): pass except KeyboardInterrupt: loginfo("User requested shut down.") finally: loginfo("Shutting down.") if waypoint_converter: waypoint_converter.destroy() ros_shutdown()