def send_imu_msgs(self):
"""
send imu messages with respect to ego_vehicle frame
:return:
"""
vehicle_acc_wrt_world_carla = self.carla_actor.get_acceleration()
vehicle_ang_vel_wrt_world_carla = self.carla_actor.get_angular_velocity(
)
vehicle_orientation_wrt_world_carla = self.carla_actor.get_transform(
).rotation
vehicle_orientation_wrt_world_ros = transforms.carla_rotation_to_ros_quaternion(
vehicle_orientation_wrt_world_carla)
tmp_twist = transforms.carla_velocity_to_ros_twist(
vehicle_acc_wrt_world_carla, vehicle_ang_vel_wrt_world_carla,
vehicle_orientation_wrt_world_carla)
vehicle_acc_wrt_body_ros, vehicle_ang_vel_wrt_body_ros = tmp_twist.linear, tmp_twist.angular
imu_info = Imu(header=self.get_msg_header())
imu_info.header.frame_id = self.get_prefix()
imu_info.orientation = vehicle_orientation_wrt_world_ros
imu_info.angular_velocity = vehicle_ang_vel_wrt_body_ros
imu_info.linear_acceleration = vehicle_acc_wrt_body_ros
imu_info.linear_acceleration.z += 9.8
self.publish_message(self.get_topic_prefix() + "/imu", imu_info)
def get_current_ros_twist(self):
"""
Function used to provide the current ROS twist
:return: the ROS twist of this actor
:rtype: geometry-msgs.msg.Twist
"""
return trans.carla_velocity_to_ros_twist(
self.carla_actor.get_velocity())
def get_current_ros_twist(self):
"""
Function to provide the current ROS twist
:return: the ROS twist of this actor
:rtype: geometry_msgs.msg.Twist
"""
return trans.carla_velocity_to_ros_twist(
self.carla_actor.get_velocity(),
self.carla_actor.get_angular_velocity(),
self.carla_actor.get_transform().rotation)