def main(args=None):
"""
main function
:return:
"""
ros_init(args)
controller = None
try:
executor = MultiThreadedExecutor()
controller = CarlaAdAgent()
executor.add_node(controller)
update_timer = controller.new_timer(
0.05, lambda timer_event=None: controller.run_step())
controller.spin()
except (ROSInterruptException, ROSException) as e:
if ros_ok():
logwarn("ROS Error during exection: {}".format(e))
except KeyboardInterrupt:
loginfo("User requested shut down.")
finally:
if controller is not None:
stopping_speed = Float64()
stopping_speed.data = 0.0
controller.speed_command_publisher.publish(stopping_speed)
ros_shutdown()
def main(args=None):
"""
main function
:return:
"""
roscomp.init("local_planner", args=args)
local_planner = None
update_timer = None
try:
local_planner = LocalPlanner()
roscomp.on_shutdown(local_planner.emergency_stop)
update_timer = local_planner.new_timer(
local_planner.control_time_step,
lambda timer_event=None: local_planner.run_step())
local_planner.spin()
except KeyboardInterrupt:
pass
finally:
roscomp.loginfo('Local planner shutting down.')
roscomp.shutdown()
def main(args=None):
"""
main function
:return:
"""
roscomp.init("ad_agent", args=args)
controller = None
try:
executor = roscomp.executors.MultiThreadedExecutor()
controller = CarlaAdAgent()
executor.add_node(controller)
roscomp.on_shutdown(controller.emergency_stop)
update_timer = controller.new_timer(
0.05, lambda timer_event=None: controller.run_step())
controller.spin()
except (ROSInterruptException, ROSException) as e:
if roscomp.ok():
roscomp.logwarn("ROS Error during exection: {}".format(e))
except KeyboardInterrupt:
roscomp.loginfo("User requested shut down.")
finally:
roscomp.shutdown()
def main(args=None):
"""
main function
:return:
"""
ros_init(args)
local_planner = None
update_timer = None
try:
local_planner = LocalPlanner()
if ROS_VERSION == 1:
local_planner.on_shutdown(local_planner.emergency_stop)
update_timer = local_planner.new_timer(
local_planner.control_time_step,
lambda timer_event=None: local_planner.run_step())
local_planner.spin()
except KeyboardInterrupt:
pass
finally:
loginfo('Local planner shutting down.')
if update_timer:
if ROS_VERSION == 1:
update_timer.shutdown()
else:
update_timer.destroy()
if ROS_VERSION == 2:
local_planner.emergency_stop()
local_planner.shutdown()
def main(args=None):
"""
main function
:return:
"""
ros_init(args)
scenario_runner = CarlaRosScenarioRunner()
if ROS_VERSION == 2:
spin_thread = threading.Thread(target=scenario_runner.spin,
daemon=True)
spin_thread.start()
try:
scenario_runner.run()
except KeyboardInterrupt:
loginfo("User requested shut down.")
finally:
if scenario_runner._scenario_runner.is_running():
scenario_runner.loginfo(
"Scenario Runner still running. Shutting down.")
scenario_runner._scenario_runner.shutdown()
del scenario_runner
ros_shutdown()
if ROS_VERSION == 2:
spin_thread.join()
def main(args=None):
"""
main function
:return:
"""
ros_init(args)
controller = None
try:
controller = CarlaAdAgent()
while ros_ok():
time.sleep(0.01)
if ROS_VERSION == 2:
rclpy.spin_once(controller)
controller.run_step()
except (ROSInterruptException, ROSException) as e:
if ros_ok():
logwarn("ROS Error during exection: {}".format(e))
except KeyboardInterrupt:
loginfo("User requested shut down.")
finally:
if controller is not None:
stopping_speed = Float64()
stopping_speed.data = 0.0
controller.speed_command_publisher.publish(stopping_speed)
ros_shutdown()
def main():
"""
main function
"""
roscomp.init("set_initial_pose")
try:
set_initial_pose_node = SetInitialPose()
set_initial_pose_node.spin()
except KeyboardInterrupt:
roscomp.loginfo("Cancelled by user.")
finally:
roscomp.shutdown()
def main(args=None):
"""
main function
"""
roscomp.init('carla_waypoint_publisher', args)
waypoint_converter = None
try:
waypoint_converter = CarlaToRosWaypointConverter()
waypoint_converter.spin()
except (RuntimeError, ROSException):
pass
except KeyboardInterrupt:
roscomp.loginfo("User requested shut down.")
finally:
roscomp.loginfo("Shutting down.")
if waypoint_converter:
waypoint_converter.destroy()
roscomp.shutdown()
def main(args=None):
"""
main function
"""
roscomp.init("manual_control", args=args)
# resolution should be similar to spawned camera with role-name 'view'
resolution = {"width": 800, "height": 600}
pygame.init()
pygame.font.init()
pygame.display.set_caption("CARLA ROS manual control")
try:
display = pygame.display.set_mode(
(resolution['width'], resolution['height']),
pygame.HWSURFACE | pygame.DOUBLEBUF)
manual_control_node = ManualControl(resolution)
clock = pygame.time.Clock()
executor = roscomp.executors.MultiThreadedExecutor()
executor.add_node(manual_control_node)
spin_thread = Thread(target=manual_control_node.spin)
spin_thread.start()
while roscomp.ok():
clock.tick_busy_loop(60)
if manual_control_node.render(clock, display):
return
pygame.display.flip()
except KeyboardInterrupt:
roscomp.loginfo("User requested shut down.")
finally:
roscomp.shutdown()
spin_thread.join()
pygame.quit()
def main(args=None):
"""
main function
"""
ros_init(args)
waypoint_converter = None
try:
waypoint_converter = CarlaToRosWaypointConverter()
if ROS_VERSION == 1:
waypoint_converter.spin()
else:
spin_thread = threading.Thread(target=waypoint_converter.spin)
spin_thread.start()
spin_thread.join()
except (RuntimeError, ROSException):
pass
except KeyboardInterrupt:
loginfo("User requested shut down.")
finally:
loginfo("Shutting down.")
if waypoint_converter:
waypoint_converter.destroy()
ros_shutdown()
