def sensor_data_updated(self, lane_invasion_event):
"""
Function to wrap the lane invasion event into a ros messsage
:param lane_invasion_event: carla lane invasion event object
:type lane_invasion_event: carla.LaneInvasionEvent
"""
lane_invasion_msg = CarlaLaneInvasionEvent()
lane_invasion_msg.header = self.get_msg_header(use_parent_frame=False)
for marking in lane_invasion_event.crossed_lane_markings:
lane_invasion_msg.crossed_lane_markings.append(marking.type)
self.publish_ros_message(self.topic_name(), lane_invasion_msg)
def sensor_data_updated(self, lane_invasion_event):
"""
Function to wrap the lane invasion event into a ros messsage
:param lane_invasion_event: carla lane invasion event object
:type lane_invasion_event: carla.LaneInvasionEvent
"""
lane_invasion_msg = CarlaLaneInvasionEvent()
lane_invasion_msg.header = self.get_msg_header()
for marking in lane_invasion_event.crossed_lane_markings:
lane_invasion_msg.crossed_lane_markings.append(marking.type)
self.lane_invasion_publisher.publish(lane_invasion_msg)
def _publish_lane_inv(self, lane_invasion_event):
"""
Function to wrap the lane invasion event into a ros messsage
:param lane_invasion_event: carla lane invasion event object
:type lane_invasion_event: carla.LaneInvasionEvent
"""
lane_invasion_msg = CarlaLaneInvasionEvent()
lane_invasion_msg.header.frame_id = "ego_vehicle"
set_timestamp(lane_invasion_msg.header, lane_invasion_event.timestamp)
for marking in lane_invasion_event.crossed_lane_markings:
lane_invasion_msg.crossed_lane_markings.append(marking.type)
self.publish("lanes_invasion", lane_invasion_msg)