def _publish_collision(self, collision_event):
"""
Function to wrap the collision event into a ros messsage
:param collision_event: carla collision event object
:type collision_event: carla.CollisionEvent
"""
collision_msg = CarlaCollisionEvent()
collision_msg.header.frame_id = "ego_vehicle"
set_timestamp(collision_msg.header, collision_event.timestamp)
collision_msg.other_actor_id = collision_event.other_actor.id
collision_msg.normal_impulse.x = collision_event.normal_impulse.x
collision_msg.normal_impulse.y = collision_event.normal_impulse.y
collision_msg.normal_impulse.z = collision_event.normal_impulse.z
self.publish("collision", collision_msg)
def sensor_data_updated(self, collision_event):
"""
Function to wrap the collision event into a ros messsage
:param collision_event: carla collision event object
:type collision_event: carla.CollisionEvent
"""
collision_msg = CarlaCollisionEvent()
collision_msg.header = self.get_msg_header()
collision_msg.other_actor_id = collision_event.other_actor.id
collision_msg.normal_impulse.x = collision_event.normal_impulse.x
collision_msg.normal_impulse.y = collision_event.normal_impulse.y
collision_msg.normal_impulse.z = collision_event.normal_impulse.z
self.collision_publisher.publish(collision_msg)
def sensor_data_updated(self, collision_event):
"""
Function to wrap the collision event into a ros messsage
:param collision_event: carla collision event object
:type collision_event: carla.CollisionEvent
"""
collision_msg = CarlaCollisionEvent()
collision_msg.header = self.get_msg_header(use_parent_frame=False)
collision_msg.other_actor_id = collision_event.other_actor.id
collision_msg.normal_impulse.x = collision_event.normal_impulse.x
collision_msg.normal_impulse.y = collision_event.normal_impulse.y
collision_msg.normal_impulse.z = collision_event.normal_impulse.z
self.publish_ros_message(self.topic_name(), collision_msg)