def publish(self):
"""
publish the current status
"""
status_msg = CarlaStatus()
status_msg.frame = self.frame
status_msg.synchronous_mode = self.synchronous_mode
status_msg.synchronous_mode_running = self.synchronous_mode_running
self.carla_status_publisher.publish(status_msg)
def __init__(self, role_name, width, height, node):
self.role_name = role_name
self.dim = (width, height)
self.node = node
font = pygame.font.Font(pygame.font.get_default_font(), 20)
fonts = [x for x in pygame.font.get_fonts() if 'mono' in x]
default_font = 'ubuntumono'
mono = default_font if default_font in fonts else fonts[0]
mono = pygame.font.match_font(mono)
self._font_mono = pygame.font.Font(mono, 14)
self._notifications = FadingText(font, (width, 40), (0, height - 40))
self.help = HelpText(pygame.font.Font(mono, 24), width, height)
self._show_info = True
self._info_text = []
self.vehicle_status = CarlaEgoVehicleStatus()
self.vehicle_status_subscriber = node.new_subscription(
CarlaEgoVehicleStatus,
"/carla/{}/vehicle_status".format(self.role_name),
self.vehicle_status_updated,
qos_profile=10)
self.vehicle_info = CarlaEgoVehicleInfo()
self.vehicle_info_subscriber = node.new_subscription(
CarlaEgoVehicleInfo,
"/carla/{}/vehicle_info".format(self.role_name),
self.vehicle_info_updated,
qos_profile=QoSProfile(
depth=10, durability=DurabilityPolicy.TRANSIENT_LOCAL))
self.x, self.y, self.z = 0, 0, 0
self.yaw = 0
self.latitude = 0
self.longitude = 0
self.manual_control = False
self.gnss_subscriber = node.new_subscription(NavSatFix,
"/carla/{}/gnss".format(
self.role_name),
self.gnss_updated,
qos_profile=10)
self.odometry_subscriber = node.new_subscription(
Odometry,
"/carla/{}/odometry".format(self.role_name),
self.odometry_updated,
qos_profile=10)
self.manual_control_subscriber = node.new_subscription(
Bool,
"/carla/{}/vehicle_control_manual_override".format(self.role_name),
self.manual_control_override_updated,
qos_profile=10)
self.carla_status = CarlaStatus()
self.status_subscriber = node.new_subscription(
CarlaStatus,
"/carla/status",
self.carla_status_updated,
qos_profile=10)
def __init__(self, role_name, width, height):
self.role_name = role_name
self.dim = (width, height)
font = pygame.font.Font(pygame.font.get_default_font(), 20)
fonts = [x for x in pygame.font.get_fonts() if 'mono' in x]
default_font = 'ubuntumono'
mono = default_font if default_font in fonts else fonts[0]
mono = pygame.font.match_font(mono)
self._font_mono = pygame.font.Font(mono, 14)
self._notifications = FadingText(font, (width, 40), (0, height - 40))
self.help = HelpText(pygame.font.Font(mono, 24), width, height)
self._show_info = True
self._info_text = []
self.vehicle_status = CarlaEgoVehicleStatus()
self.tf_listener = tf.TransformListener()
self.vehicle_status_subscriber = rospy.Subscriber(
"/carla/{}/vehicle_status".format(self.role_name),
CarlaEgoVehicleStatus, self.vehicle_status_updated)
self.vehicle_info = CarlaEgoVehicleInfo()
self.vehicle_info_subscriber = rospy.Subscriber(
"/carla/{}/vehicle_info".format(self.role_name),
CarlaEgoVehicleInfo, self.vehicle_info_updated)
self.latitude = 0
self.longitude = 0
self.manual_control = False
self.gnss_subscriber = rospy.Subscriber(
"/carla/{}/gnss/gnss1/fix".format(self.role_name), NavSatFix,
self.gnss_updated)
self.manual_control_subscriber = rospy.Subscriber(
"/carla/{}/vehicle_control_manual_override".format(self.role_name),
Bool, self.manual_control_override_updated)
self.carla_status = CarlaStatus()
self.status_subscriber = rospy.Subscriber("/carla/status", CarlaStatus,
self.carla_status_updated)
def __init__(self, role_name, width, height, node):
self.role_name = role_name
self.dim = (width, height)
self.node = node
font = pygame.font.Font(pygame.font.get_default_font(), 20)
fonts = [x for x in pygame.font.get_fonts() if 'mono' in x]
default_font = 'ubuntumono'
mono = default_font if default_font in fonts else fonts[0]
mono = pygame.font.match_font(mono)
self._font_mono = pygame.font.Font(mono, 14)
self._notifications = FadingText(font, (width, 40), (0, height - 40))
self.help = HelpText(pygame.font.Font(mono, 24), width, height)
self._show_info = True
self._info_text = []
self.vehicle_status = CarlaEgoVehicleStatus()
if ROS_VERSION == 1:
self.tf_listener = tf.TransformListener()
self.callback_group = None
elif ROS_VERSION == 2:
self.tf_buffer = tf2_ros.Buffer()
self.tf_listener = tf2_ros.TransformListener(self.tf_buffer, node=self.node)
self.callback_group = ReentrantCallbackGroup()
self.vehicle_status_subscriber = node.create_subscriber(
CarlaEgoVehicleStatus, "/carla/{}/vehicle_status".format(self.role_name),
self.vehicle_status_updated, callback_group=self.callback_group)
self.vehicle_info = CarlaEgoVehicleInfo()
self.vehicle_info_subscriber = node.create_subscriber(
CarlaEgoVehicleInfo, "/carla/{}/vehicle_info".format(self.role_name),
self.vehicle_info_updated, callback_group=self.callback_group, qos_profile=QoSProfile(depth=10, durability=latch_on))
self.latitude = 0
self.longitude = 0
self.manual_control = False
self.gnss_subscriber = node.create_subscriber(
NavSatFix, "/carla/{}/gnss".format(self.role_name), self.gnss_updated,
callback_group=self.callback_group)
self.manual_control_subscriber = node.create_subscriber(
Bool, "/carla/{}/vehicle_control_manual_override".format(self.role_name),
self.manual_control_override_updated, callback_group=self.callback_group)
self.carla_status = CarlaStatus()
self.status_subscriber = node.create_subscriber(CarlaStatus, "/carla/status",
self.carla_status_updated,
callback_group=self.callback_group)