def __init__(self, context):
"""
Constructor
"""
super(CarlaControlPlugin, self).__init__(context)
self.setObjectName('CARLA Control')
self._widget = QWidget()
self._node = CompatibleNode('rqt_carla_control_node')
package_share_dir = roscomp.get_package_share_directory(
'rqt_carla_control')
ui_file = os.path.join(package_share_dir, 'resource',
'CarlaControl.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('CarlaControl')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self.pause_icon = QIcon(
QPixmap(os.path.join(package_share_dir, 'resource', 'pause.png')))
self.play_icon = QIcon(
QPixmap(os.path.join(package_share_dir, 'resource', 'play.png')))
self._widget.pushButtonStepOnce.setIcon(
QIcon(
QPixmap(
os.path.join(package_share_dir, 'resource',
'step_once.png'))))
self.carla_status = None
self.carla_status_subscriber = self._node.new_subscription(
CarlaStatus,
"/carla/status",
self.carla_status_changed,
qos_profile=10)
self.carla_control_publisher = self._node.new_publisher(
CarlaControl, "/carla/control", qos_profile=10)
self._widget.pushButtonPlayPause.setDisabled(True)
self._widget.pushButtonStepOnce.setDisabled(True)
self._widget.pushButtonPlayPause.setIcon(self.play_icon)
self._widget.pushButtonPlayPause.clicked.connect(
self.toggle_play_pause)
self._widget.pushButtonStepOnce.clicked.connect(self.step_once)
context.add_widget(self._widget)
if roscomp.get_ros_version() == 2:
spin_thread = threading.Thread(target=self._node.spin, daemon=True)
spin_thread.start()
import numpy
from simple_pid import PID # pylint: disable=import-error,wrong-import-order
import ros_compatibility as roscomp
from ros_compatibility.node import CompatibleNode
from carla_ackermann_control import carla_control_physics as phys
from ackermann_msgs.msg import AckermannDrive # pylint: disable=import-error,wrong-import-order
from std_msgs.msg import Header # pylint: disable=wrong-import-order
from carla_msgs.msg import CarlaEgoVehicleStatus # pylint: disable=no-name-in-module,import-error
from carla_msgs.msg import CarlaEgoVehicleControl # pylint: disable=no-name-in-module,import-error
from carla_msgs.msg import CarlaEgoVehicleInfo # pylint: disable=no-name-in-module,import-error
from carla_ackermann_msgs.msg import EgoVehicleControlInfo # pylint: disable=no-name-in-module,import-error
ROS_VERSION = roscomp.get_ros_version()
if ROS_VERSION == 1:
from carla_ackermann_control.cfg import EgoVehicleControlParameterConfig # pylint: disable=no-name-in-module,import-error,ungrouped-imports
from dynamic_reconfigure.server import Server # pylint: disable=no-name-in-module,import-error
if ROS_VERSION == 2:
from rcl_interfaces.msg import SetParametersResult
class CarlaAckermannControl(CompatibleNode):
"""
Convert ackermann_drive messages to carla VehicleCommand with a PID controller
"""
def __init__(self):
"""
Constructor