def destroy_object(self, req, response=None):
response = roscomp.get_service_response(DestroyObject)
destroyed_actors = self.actor_factory.destroy_actor(req.id)
response.success = bool(destroyed_actors)
for actor in destroyed_actors:
if actor in self._registered_actors:
self._registered_actors.remove(actor)
return response
def execute_scenario(self, req, response=None):
"""
Execute a scenario
"""
self.loginfo("Scenario Execution requested...")
response = get_service_response(ExecuteScenario)
response.result = True
if not os.path.isfile(req.scenario.scenario_file):
self.logwarn("Requested scenario file not existing {}".format(
req.scenario.scenario_file))
response.result = False
else:
self._request_queue.put(req.scenario)
return response
def get_blueprints(self, req):
response = roscomp.get_service_response(GetBlueprints)
if req.filter:
bp_filter = req.filter
else:
bp_filter = "*"
response.blueprints = [
bp.id for bp in self.carla_world.get_blueprint_library().filter(
bp_filter)
]
response.blueprints.extend(
self.actor_factory.get_pseudo_sensor_types())
response.blueprints.sort()
return response
def spawn_object(self, req, response=None):
response = roscomp.get_service_response(SpawnObject)
if not self.shutdown.is_set():
try:
id_ = self.actor_factory.spawn_actor(req)
self._registered_actors.append(id_)
response.id = id_
except Exception as e:
self.logwarn("Error spawning object '{}': {}".format(
req.type, e))
response.id = -1
response.error_string = str(e)
else:
response.id = -1
response.error_string = 'Bridge is shutting down, object will not be spawned.'
return response
def get_waypoint(self, req, response=None):
"""
Get the waypoint for a location
"""
carla_position = carla.Location()
carla_position.x = req.location.x
carla_position.y = -req.location.y
carla_position.z = req.location.z
carla_waypoint = self.map.get_waypoint(carla_position)
response = get_service_response(GetWaypoint)
response.waypoint.pose = trans.carla_transform_to_ros_pose(carla_waypoint.transform)
response.waypoint.is_junction = carla_waypoint.is_junction
response.waypoint.road_id = carla_waypoint.road_id
response.waypoint.section_id = carla_waypoint.section_id
response.waypoint.lane_id = carla_waypoint.lane_id
return response
def get_actor_waypoint(self, req, response=None):
"""
Convenience method to get the waypoint for an actor
"""
# self.loginfo("get_actor_waypoint(): Get waypoint of actor {}".format(req.id))
actor = self.world.get_actors().find(req.id)
response = get_service_response(GetActorWaypoint)
if actor:
carla_waypoint = self.map.get_waypoint(actor.get_location())
response.waypoint.pose = trans.carla_transform_to_ros_pose(carla_waypoint.transform)
response.waypoint.is_junction = carla_waypoint.is_junction
response.waypoint.road_id = carla_waypoint.road_id
response.waypoint.section_id = carla_waypoint.section_id
response.waypoint.lane_id = carla_waypoint.lane_id
else:
self.logwarn("get_actor_waypoint(): Actor {} not valid.".format(req.id))
return response
def get_waypoint(self, req, response=None):
"""
Get the waypoint for a location
"""
carla_position = carla.Location()
carla_position.x = req.location.x
carla_position.y = -req.location.y
carla_position.z = req.location.z
carla_waypoint = self.map.get_waypoint(carla_position)
response = get_service_response(GetWaypoint)
response.waypoint.pose.position.x = carla_waypoint.transform.location.x
response.waypoint.pose.position.y = -carla_waypoint.transform.location.y
response.waypoint.pose.position.z = carla_waypoint.transform.location.z
response.waypoint.is_junction = carla_waypoint.is_junction
response.waypoint.road_id = carla_waypoint.road_id
response.waypoint.section_id = carla_waypoint.section_id
response.waypoint.lane_id = carla_waypoint.lane_id
#self.logwarn("Get waypoint {}".format(response.waypoint.pose.position))
return response
