예제 #1
0
    def _create_actor(self, carla_actor):  # pylint: disable=too-many-branches,too-many-statements
        """
        create an actor
        """
        parent = None
        if carla_actor.parent:
            if carla_actor.parent.id in self.actors:
                parent = self.actors[carla_actor.parent.id]
            else:
                parent = self._create_actor(carla_actor.parent)

        actor = None
        pseudo_actors = []
        if carla_actor.type_id.startswith('traffic'):
            if carla_actor.type_id == "traffic.traffic_light":
                actor = TrafficLight(carla_actor, parent, self.comm)
            else:
                actor = Traffic(carla_actor, parent, self.comm)
        elif carla_actor.type_id.startswith("vehicle"):
            if carla_actor.attributes.get('role_name')\
                    in self.parameters['ego_vehicle']['role_name']:
                ego_vehicle = EgoVehicle(carla_actor, parent, self.comm)
                actor = ego_vehicle
                pseudo_actors.append(
                    ObjectSensor(parent=ego_vehicle,
                                 communication=self.comm,
                                 actor_list=self.actors,
                                 filtered_id=carla_actor.id))
            else:
                actor = Vehicle(carla_actor, parent, self.comm)
        elif carla_actor.type_id.startswith("sensor"):
            if carla_actor.type_id.startswith("sensor.camera"):
                if carla_actor.type_id.startswith("sensor.camera.rgb"):
                    actor = RgbCamera(carla_actor, parent, self.comm,
                                      self.carla_settings.synchronous_mode)
                elif carla_actor.type_id.startswith("sensor.camera.depth"):
                    actor = DepthCamera(carla_actor, parent, self.comm,
                                        self.carla_settings.synchronous_mode)
                elif carla_actor.type_id.startswith(
                        "sensor.camera.semantic_segmentation"):
                    actor = SemanticSegmentationCamera(
                        carla_actor, parent, self.comm,
                        self.carla_settings.synchronous_mode)
                else:
                    actor = Camera(carla_actor, parent, self.comm,
                                   self.carla_settings.synchronous_mode)
            elif carla_actor.type_id.startswith("sensor.lidar"):
                actor = Lidar(carla_actor, parent, self.comm,
                              self.carla_settings.synchronous_mode)
            elif carla_actor.type_id.startswith("sensor.other.gnss"):
                actor = Gnss(carla_actor, parent, self.comm,
                             self.carla_settings.synchronous_mode)
            elif carla_actor.type_id.startswith("sensor.other.collision"):
                actor = CollisionSensor(carla_actor, parent, self.comm,
                                        self.carla_settings.synchronous_mode)
            elif carla_actor.type_id.startswith("sensor.other.lane_invasion"):
                actor = LaneInvasionSensor(
                    carla_actor, parent, self.comm,
                    self.carla_settings.synchronous_mode)
            else:
                actor = Sensor(carla_actor, parent, self.comm,
                               self.carla_settings.synchronous_mode)
        elif carla_actor.type_id.startswith("spectator"):
            actor = Spectator(carla_actor, parent, self.comm)
        elif carla_actor.type_id.startswith("walker"):
            actor = Walker(carla_actor, parent, self.comm)
        else:
            actor = Actor(carla_actor, parent, self.comm)

        rospy.loginfo("Created {}(id={}, parent_id={},"
                      " type={}, prefix={}, attributes={})".format(
                          actor.__class__.__name__, actor.get_id(),
                          actor.get_parent_id(), carla_actor.type_id,
                          actor.get_prefix(), carla_actor.attributes))
        with self.update_lock:
            self.actors[carla_actor.id] = actor

        for pseudo_actor in pseudo_actors:
            rospy.loginfo("Created {}(parent_id={}, prefix={})".format(
                pseudo_actor.__class__.__name__, pseudo_actor.get_parent_id(),
                pseudo_actor.get_prefix()))
            with self.update_lock:
                self.pseudo_actors.append(pseudo_actor)

        return actor
예제 #2
0
    def _create_object(self,
                       uid,
                       type_id,
                       name,
                       attach_to,
                       spawn_pose,
                       carla_actor=None):
        # check that the actor is not already created.
        if carla_actor is not None and carla_actor.id in self.actors:
            return None

        if attach_to != 0:
            if attach_to not in self.actors:
                raise IndexError(
                    "Parent object {} not found".format(attach_to))

            parent = self.actors[attach_to]
        else:
            parent = None

        if type_id == TFSensor.get_blueprint_name():
            actor = TFSensor(uid=uid, name=name, parent=parent, node=self.node)

        elif type_id == OdometrySensor.get_blueprint_name():
            actor = OdometrySensor(uid=uid,
                                   name=name,
                                   parent=parent,
                                   node=self.node)

        elif type_id == SpeedometerSensor.get_blueprint_name():
            actor = SpeedometerSensor(uid=uid,
                                      name=name,
                                      parent=parent,
                                      node=self.node)

        elif type_id == MarkerSensor.get_blueprint_name():
            actor = MarkerSensor(uid=uid,
                                 name=name,
                                 parent=parent,
                                 node=self.node,
                                 actor_list=self.actors)

        elif type_id == ActorListSensor.get_blueprint_name():
            actor = ActorListSensor(uid=uid,
                                    name=name,
                                    parent=parent,
                                    node=self.node,
                                    actor_list=self.actors)

        elif type_id == ObjectSensor.get_blueprint_name():
            actor = ObjectSensor(
                uid=uid,
                name=name,
                parent=parent,
                node=self.node,
                actor_list=self.actors,
            )

        elif type_id == TrafficLightsSensor.get_blueprint_name():
            actor = TrafficLightsSensor(
                uid=uid,
                name=name,
                parent=parent,
                node=self.node,
                actor_list=self.actors,
            )

        elif type_id == OpenDriveSensor.get_blueprint_name():
            actor = OpenDriveSensor(uid=uid,
                                    name=name,
                                    parent=parent,
                                    node=self.node,
                                    carla_map=self.world.get_map())

        elif type_id == ActorControl.get_blueprint_name():
            actor = ActorControl(uid=uid,
                                 name=name,
                                 parent=parent,
                                 node=self.node)

        elif carla_actor.type_id.startswith('traffic'):
            if carla_actor.type_id == "traffic.traffic_light":
                actor = TrafficLight(uid, name, parent, self.node, carla_actor)
            else:
                actor = Traffic(uid, name, parent, self.node, carla_actor)
        elif carla_actor.type_id.startswith("vehicle"):
            if carla_actor.attributes.get('role_name')\
                    in self.node.parameters['ego_vehicle']['role_name']:
                actor = EgoVehicle(
                    uid, name, parent, self.node, carla_actor,
                    self.node._ego_vehicle_control_applied_callback)
            else:
                actor = Vehicle(uid, name, parent, self.node, carla_actor)
        elif carla_actor.type_id.startswith("sensor"):
            if carla_actor.type_id.startswith("sensor.camera"):
                if carla_actor.type_id.startswith("sensor.camera.rgb"):
                    actor = RgbCamera(uid, name, parent, spawn_pose, self.node,
                                      carla_actor, self.sync_mode)
                elif carla_actor.type_id.startswith("sensor.camera.depth"):
                    actor = DepthCamera(uid, name, parent, spawn_pose,
                                        self.node, carla_actor, self.sync_mode)
                elif carla_actor.type_id.startswith(
                        "sensor.camera.semantic_segmentation"):
                    actor = SemanticSegmentationCamera(uid, name, parent,
                                                       spawn_pose, self.node,
                                                       carla_actor,
                                                       self.sync_mode)
                elif carla_actor.type_id.startswith("sensor.camera.dvs"):
                    actor = DVSCamera(uid, name, parent, spawn_pose, self.node,
                                      carla_actor, self.sync_mode)
                else:
                    actor = Camera(uid, name, parent, spawn_pose, self.node,
                                   carla_actor, self.sync_mode)
            elif carla_actor.type_id.startswith("sensor.lidar"):
                if carla_actor.type_id.endswith("sensor.lidar.ray_cast"):
                    actor = Lidar(uid, name, parent, spawn_pose, self.node,
                                  carla_actor, self.sync_mode)
                elif carla_actor.type_id.endswith(
                        "sensor.lidar.ray_cast_semantic"):
                    actor = SemanticLidar(uid, name, parent, spawn_pose,
                                          self.node, carla_actor,
                                          self.sync_mode)
            elif carla_actor.type_id.startswith("sensor.other.radar"):
                actor = Radar(uid, name, parent, spawn_pose, self.node,
                              carla_actor, self.sync_mode)
            elif carla_actor.type_id.startswith("sensor.other.gnss"):
                actor = Gnss(uid, name, parent, spawn_pose, self.node,
                             carla_actor, self.sync_mode)
            elif carla_actor.type_id.startswith("sensor.other.imu"):
                actor = ImuSensor(uid, name, parent, spawn_pose, self.node,
                                  carla_actor, self.sync_mode)
            elif carla_actor.type_id.startswith("sensor.other.collision"):
                actor = CollisionSensor(uid, name, parent, spawn_pose,
                                        self.node, carla_actor, self.sync_mode)
            elif carla_actor.type_id.startswith("sensor.other.rss"):
                actor = RssSensor(uid, name, parent, spawn_pose, self.node,
                                  carla_actor, self.sync_mode)
            elif carla_actor.type_id.startswith("sensor.other.lane_invasion"):
                actor = LaneInvasionSensor(uid, name, parent, spawn_pose,
                                           self.node, carla_actor,
                                           self.sync_mode)
            else:
                actor = Sensor(uid, name, parent, spawn_pose, self.node,
                               carla_actor, self.sync_mode)
        elif carla_actor.type_id.startswith("spectator"):
            actor = Spectator(uid, name, parent, self.node, carla_actor)
        elif carla_actor.type_id.startswith("walker"):
            actor = Walker(uid, name, parent, self.node, carla_actor)
        else:
            actor = Actor(uid, name, parent, self.node, carla_actor)

        self.actors[actor.uid] = actor
        self.node.loginfo("Created {}(id={})".format(actor.__class__.__name__,
                                                     actor.uid))

        return actor
예제 #3
0
    def _create_object(self,
                       uid,
                       type_id,
                       name,
                       parent,
                       spawn_pose,
                       carla_actor=None):

        if type_id == TFSensor.get_blueprint_name():
            actor = TFSensor(uid=uid, name=name, parent=parent, node=self.node)

        elif type_id == OdometrySensor.get_blueprint_name():
            actor = OdometrySensor(uid=uid,
                                   name=name,
                                   parent=parent,
                                   node=self.node)

        elif type_id == SpeedometerSensor.get_blueprint_name():
            actor = SpeedometerSensor(uid=uid,
                                      name=name,
                                      parent=parent,
                                      node=self.node)

        elif type_id == MarkerSensor.get_blueprint_name():
            actor = MarkerSensor(uid=uid,
                                 name=name,
                                 parent=parent,
                                 node=self.node,
                                 actor_list=self.actors)

        elif type_id == ActorListSensor.get_blueprint_name():
            actor = ActorListSensor(uid=uid,
                                    name=name,
                                    parent=parent,
                                    node=self.node,
                                    actor_list=self.actors)

        elif type_id == ObjectSensor.get_blueprint_name():
            actor = ObjectSensor(
                uid=uid,
                name=name,
                parent=parent,
                node=self.node,
                actor_list=self.actors,
            )

        elif type_id == TrafficLightsSensor.get_blueprint_name():
            actor = TrafficLightsSensor(
                uid=uid,
                name=name,
                parent=parent,
                node=self.node,
                actor_list=self.actors,
            )

        elif type_id == OpenDriveSensor.get_blueprint_name():
            actor = OpenDriveSensor(uid=uid,
                                    name=name,
                                    parent=parent,
                                    node=self.node,
                                    carla_map=self.world.get_map())

        elif type_id == ActorControl.get_blueprint_name():
            actor = ActorControl(uid=uid,
                                 name=name,
                                 parent=parent,
                                 node=self.node)

        elif carla_actor.type_id.startswith('traffic'):
            if carla_actor.type_id == "traffic.traffic_light":
                actor = TrafficLight(uid, name, parent, self.node, carla_actor)
            else:
                actor = Traffic(uid, name, parent, self.node, carla_actor)
        elif carla_actor.type_id.startswith("vehicle"):
            if carla_actor.attributes.get('role_name')\
                    in self.node.parameters['ego_vehicle']['role_name']:
                actor = EgoVehicle(
                    uid, name, parent, self.node, carla_actor,
                    self.node._ego_vehicle_control_applied_callback)
            else:
                actor = Vehicle(uid, name, parent, self.node, carla_actor)
        elif carla_actor.type_id.startswith("sensor"):
            if carla_actor.type_id.startswith("sensor.camera"):
                if carla_actor.type_id.startswith("sensor.camera.rgb"):
                    actor = RgbCamera(uid, name, parent, spawn_pose, self.node,
                                      carla_actor, self.sync_mode)
                elif carla_actor.type_id.startswith("sensor.camera.depth"):
                    actor = DepthCamera(uid, name, parent, spawn_pose,
                                        self.node, carla_actor, self.sync_mode)
                elif carla_actor.type_id.startswith(
                        "sensor.camera.semantic_segmentation"):
                    actor = SemanticSegmentationCamera(uid, name, parent,
                                                       spawn_pose, self.node,
                                                       carla_actor,
                                                       self.sync_mode)
                elif carla_actor.type_id.startswith("sensor.camera.dvs"):
                    actor = DVSCamera(uid, name, parent, spawn_pose, self.node,
                                      carla_actor, self.sync_mode)
                else:
                    actor = Camera(uid, name, parent, spawn_pose, self.node,
                                   carla_actor, self.sync_mode)
            elif carla_actor.type_id.startswith("sensor.lidar"):
                if carla_actor.type_id.endswith("sensor.lidar.ray_cast"):
                    actor = Lidar(uid, name, parent, spawn_pose, self.node,
                                  carla_actor, self.sync_mode)
                elif carla_actor.type_id.endswith(
                        "sensor.lidar.ray_cast_semantic"):
                    actor = SemanticLidar(uid, name, parent, spawn_pose,
                                          self.node, carla_actor,
                                          self.sync_mode)
            elif carla_actor.type_id.startswith("sensor.other.radar"):
                actor = Radar(uid, name, parent, spawn_pose, self.node,
                              carla_actor, self.sync_mode)
            elif carla_actor.type_id.startswith("sensor.other.gnss"):
                actor = Gnss(uid, name, parent, spawn_pose, self.node,
                             carla_actor, self.sync_mode)
            elif carla_actor.type_id.startswith("sensor.other.imu"):
                actor = ImuSensor(uid, name, parent, spawn_pose, self.node,
                                  carla_actor, self.sync_mode)
            elif carla_actor.type_id.startswith("sensor.other.collision"):
                actor = CollisionSensor(uid, name, parent, spawn_pose,
                                        self.node, carla_actor, self.sync_mode)
            elif carla_actor.type_id.startswith("sensor.other.rss"):
                actor = RssSensor(uid, name, parent, spawn_pose, self.node,
                                  carla_actor, self.sync_mode)
            elif carla_actor.type_id.startswith("sensor.other.lane_invasion"):
                actor = LaneInvasionSensor(uid, name, parent, spawn_pose,
                                           self.node, carla_actor,
                                           self.sync_mode)
            else:
                actor = Sensor(uid, name, parent, spawn_pose, self.node,
                               carla_actor, self.sync_mode)
        elif carla_actor.type_id.startswith("spectator"):
            actor = Spectator(uid, name, parent, self.node, carla_actor)
        elif carla_actor.type_id.startswith("walker"):
            actor = Walker(uid, name, parent, self.node, carla_actor)
        else:
            actor = Actor(uid, name, parent, self.node, carla_actor)

        return actor