def __init__(self, parent, node, actor_list):
"""
Constructor
:param parent: the parent of this
:type parent: carla_ros_bridge.Parent
:param node: node-handle
:type node: carla_ros_bridge.CarlaRosBridge
:param actor_list: current list of actors
:type actor_list: map(carla-actor-id -> python-actor-object)
"""
super(TrafficLightsSensor, self).__init__(parent=parent,
node=node,
prefix="")
self.actor_list = actor_list
self.traffic_light_status = CarlaTrafficLightStatusList()
self.traffic_light_actors = []
self.traffic_lights_info_publisher = rospy.Publisher(
self.get_topic_prefix() + "traffic_lights_info",
CarlaTrafficLightInfoList,
queue_size=10,
latch=True)
self.traffic_lights_status_publisher = rospy.Publisher(
self.get_topic_prefix() + "traffic_lights",
CarlaTrafficLightStatusList,
queue_size=10,
latch=True)
def __init__(self, uid, name, parent, node, actor_list):
"""
Constructor
:param uid: unique identifier for this object
:type uid: int
:param name: name identiying the sensor
:type name: string
:param parent: the parent of this
:type parent: carla_ros_bridge.Parent
:param node: node-handle
:type node: CompatibleNode
:param actor_list: current list of actors
:type actor_list: map(carla-actor-id -> python-actor-object)
"""
super(TrafficLightsSensor, self).__init__(uid=uid,
name=name,
parent=parent,
node=node)
self.actor_list = actor_list
self.traffic_light_status = CarlaTrafficLightStatusList()
self.traffic_light_actors = []
self.traffic_lights_info_publisher = node.new_publisher(
CarlaTrafficLightInfoList,
self.get_topic_prefix() + "/info",
qos_profile=QoSProfile(depth=10, durability=latch_on))
self.traffic_lights_status_publisher = node.new_publisher(
CarlaTrafficLightStatusList,
self.get_topic_prefix() + "/status",
qos_profile=QoSProfile(depth=10, durability=latch_on))
def __init__(self, uid, name, parent, node, actor_list):
"""
Constructor
:param uid: unique identifier for this object
:type uid: int
:param name: name identiying the sensor
:type name: string
:param parent: the parent of this
:type parent: carla_ros_bridge.Parent
:param node: node-handle
:type node: carla_ros_bridge.CarlaRosBridge
:param actor_list: current list of actors
:type actor_list: map(carla-actor-id -> python-actor-object)
"""
super(TrafficLightsSensor, self).__init__(uid=uid,
name=name,
parent=parent,
node=node)
self.actor_list = actor_list
self.traffic_light_status = CarlaTrafficLightStatusList()
self.traffic_light_actors = []
self.traffic_lights_info_publisher = rospy.Publisher(
self.get_topic_prefix() + "/info",
CarlaTrafficLightInfoList,
queue_size=10,
latch=True)
self.traffic_lights_status_publisher = rospy.Publisher(
self.get_topic_prefix() + "/status",
CarlaTrafficLightStatusList,
queue_size=10,
latch=True)
def update(self, frame, timestamp):
"""
Get the state of all known traffic lights
"""
traffic_lights = CarlaTrafficLightStatusList()
for actor_id in self.actor_list:
actor = self.actor_list[actor_id]
if isinstance(actor, TrafficLight):
traffic_lights.traffic_lights.append(actor.get_status())
self.publish_message(self.get_topic_prefix(), traffic_lights)
def __init__(self, parent, communication, actor_list):
"""
Constructor
:param parent: the parent of this
:type parent: carla_ros_bridge.Parent
:param communication: communication-handle
:type communication: carla_ros_bridge.communication
:param actor_list: current list of actors
:type actor_list: map(carla-actor-id -> python-actor-object)
"""
super(TrafficLightsSensor, self).__init__(parent=parent,
communication=communication,
prefix="")
self.actor_list = actor_list
self.traffic_light_status = CarlaTrafficLightStatusList()
self.traffic_light_actors = []
def update(self, frame, timestamp):
"""
Get the state of all known traffic lights
"""
traffic_light_status = CarlaTrafficLightStatusList()
traffic_light_actors = []
for actor_id in self.actor_list:
actor = self.actor_list[actor_id]
if isinstance(actor, TrafficLight):
traffic_light_actors.append(actor)
traffic_light_status.traffic_lights.append(actor.get_status())
if traffic_light_actors != self.traffic_light_actors:
self.traffic_light_actors = traffic_light_actors
traffic_light_info_list = CarlaTrafficLightInfoList()
for traffic_light in traffic_light_actors:
traffic_light_info_list.traffic_lights.append(traffic_light.get_info())
self.traffic_lights_info_publisher.publish(traffic_light_info_list)
if traffic_light_status != self.traffic_light_status:
self.traffic_light_status = traffic_light_status
self.traffic_lights_status_publisher.publish(traffic_light_status)
def update(self, frame, timestamp):
"""
Get the state of all known traffic lights
"""
traffic_light_status = CarlaTrafficLightStatusList()
traffic_light_actors = []
for actor_id in self.actor_list:
actor = self.actor_list[actor_id]
if isinstance(actor, TrafficLight):
traffic_light_actors.append(actor)
traffic_light_status.traffic_lights.append(actor.get_status())
if traffic_light_actors != self.traffic_light_actors:
self.traffic_light_actors = traffic_light_actors
traffic_light_info_list = CarlaTrafficLightInfoList()
for traffic_light in traffic_light_actors:
traffic_light_info_list.traffic_lights.append(traffic_light.get_info())
self.publish_message(self.get_topic_prefix() + "traffic_lights_info",
traffic_light_info_list, is_latched=True)
if traffic_light_status != self.traffic_light_status:
self.traffic_light_status = traffic_light_status
self.publish_message(self.get_topic_prefix() + "traffic_lights",
traffic_light_status, is_latched=True)