def publish_actor_list(self):
"""
publish list of carla actors
:return:
"""
ros_actor_list = CarlaActorList()
for actor_id in self.actors:
actor = self.actors[actor_id].carla_actor
ros_actor = CarlaActorInfo()
ros_actor.id = actor.id
ros_actor.type = actor.type_id
try:
ros_actor.rolename = str(actor.attributes.get('role_name'))
except ValueError:
pass
if actor.parent:
ros_actor.parent_id = actor.parent.id
else:
ros_actor.parent_id = 0
ros_actor_list.actors.append(ros_actor)
self.actor_list_publisher.publish(ros_actor_list)
def publish_actor_list(self):
"""
publish list of carla actors
:return:
"""
ros_actor_list = CarlaActorList()
with self.update_lock:
for actor_id in self.actors:
actor = self.actors[actor_id].carla_actor
ros_actor = CarlaActorInfo()
ros_actor.id = actor.id
ros_actor.type = actor.type_id
try:
ros_actor.rolename = str(actor.attributes.get('role_name'))
except ValueError:
pass
if actor.parent:
ros_actor.parent_id = actor.parent.id
else:
ros_actor.parent_id = 0
ros_actor_list.actors.append(ros_actor)
self.comm.publish_message("/carla/actor_list",
ros_actor_list,
is_latched=True)
def update(self, frame, timestamp):
"""
Function (override) to update this object.
"""
ros_actor_list = CarlaActorList()
for actor_id in self.actor_list.keys():
if not isinstance(self.actor_list[actor_id], Actor):
continue
actor = self.actor_list[actor_id].carla_actor
ros_actor = CarlaActorInfo()
ros_actor.id = actor.id
ros_actor.type = actor.type_id
try:
ros_actor.rolename = str(actor.attributes.get('role_name'))
except ValueError:
pass
if actor.parent:
ros_actor.parent_id = actor.parent.id
else:
ros_actor.parent_id = 0
ros_actor_list.actors.append(ros_actor)
self.actor_list_publisher.publish(ros_actor_list)