def destroy(self):
"""
Function (override) to destroy this object.
Terminate ROS subscriptions
Finally forward call to super class.
:return:
"""
self.node.logdebug("Destroy Vehicle(id={})".format(self.get_id()))
self.node.destroy_subscription(self.control_subscriber)
self.node.destroy_subscription(self.enable_autopilot_subscriber)
self.node.destroy_subscription(self.control_override_subscriber)
self.node.destroy_subscription(self.manual_control_subscriber)
self.node.destroy_publisher(self.vehicle_status_publisher)
self.node.destroy_publisher(self.vehicle_info_publisher)
Vehicle.destroy(self)
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 _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 _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