def get_object_info(self):
"""
Function to send object messages of this traffic participant.
A derived_object_msgs.msg.Object is prepared to be published via '/carla/objects'
:return:
"""
obj = Object(header=self.get_msg_header("map"))
# ID
obj.id = self.get_id()
# Pose
obj.pose = self.get_current_ros_pose()
# Twist
obj.twist = self.get_current_ros_twist()
# Acceleration
obj.accel = self.get_current_ros_accel()
# Shape
obj.shape.type = SolidPrimitive.BOX
obj.shape.dimensions.extend([
self.carla_actor.bounding_box.extent.x * 2.0,
self.carla_actor.bounding_box.extent.y * 2.0,
self.carla_actor.bounding_box.extent.z * 2.0])
# Classification if available in attributes
if self.get_classification() != Object.CLASSIFICATION_UNKNOWN:
obj.object_classified = True
obj.classification = self.get_classification()
obj.classification_certainty = 1.0
obj.classification_age = self.classification_age
return obj
def send_object_msg(self):
"""
Function to send object messages of this vehicle.
A derived_object_msgs.msg.Object is prepared to be published via '/carla/objects'
:return:
"""
vehicle_object = Object(header=self.get_msg_header())
# ID
vehicle_object.id = self.get_global_ID()
# Pose
vehicle_object.pose = self.get_current_ros_pose()
# Twist
vehicle_object.twist = self.get_current_ros_twist()
# Acceleration
vehicle_object.accel = self.get_current_ros_accel()
# Shape
vehicle_object.shape.type = SolidPrimitive.BOX
vehicle_object.shape.dimensions.extend([
self.carla_actor.bounding_box.extent.x * 2.0,
self.carla_actor.bounding_box.extent.y * 2.0,
self.carla_actor.bounding_box.extent.z * 2.0
])
# Classification if available in attributes
if self.classification != Object.CLASSIFICATION_UNKNOWN:
vehicle_object.object_classified = True
vehicle_object.classification = self.classification
vehicle_object.classification_certainty = 1.0
self.classification_age += 1
vehicle_object.classification_age = self.classification_age
# self.publish_ros_message('/carla/objects', vehicle_object)
return vehicle_object
