def __init__(self, role_name, host, port, scenario_runner_path, publish_waypoints, publish_goal):
"""
Constructor
"""
self._goal_publisher = None
if publish_goal:
self._goal_publisher = rospy.Publisher(
"/carla/{}/goal".format(role_name), PoseStamped, queue_size=1, latch=True)
self._target_speed_publisher = rospy.Publisher(
"/carla/{}/target_speed".format(role_name), Float64, queue_size=1, latch=True)
self._path_publisher = None
if publish_waypoints:
self._path_publisher = rospy.Publisher(
"/carla/{}/waypoints".format(role_name), Path, queue_size=1, latch=True)
self._status_publisher = rospy.Publisher(
"/scenario_runner/status", CarlaScenarioRunnerStatus, queue_size=1, latch=True)
self.scenario_runner_status_updated(ApplicationStatus.STOPPED)
self._scenario_runner = ScenarioRunnerRunner(
scenario_runner_path,
host,
port,
self.scenario_runner_status_updated,
self.scenario_runner_log)
self._request_queue = queue.Queue()
self._execute_scenario_service = rospy.Service(
'/scenario_runner/execute_scenario', ExecuteScenario, self.execute_scenario)
def __init__(self, host, port, scenario_runner_path, wait_for_ego):
"""
Constructor
"""
self._status_publisher = rospy.Publisher("/scenario_runner/status",
CarlaScenarioRunnerStatus,
queue_size=1,
latch=True)
self.scenario_runner_status_updated(ApplicationStatus.STOPPED)
self._scenario_runner = ScenarioRunnerRunner(
scenario_runner_path, host, port, wait_for_ego,
self.scenario_runner_status_updated, self.scenario_runner_log)
self._request_queue = queue.Queue()
self._execute_scenario_service = rospy.Service(
'/scenario_runner/execute_scenario', ExecuteScenario,
self.execute_scenario)