def run(self):
# Read the vehicle id from the vehicle id stream
vehicle_id_msg = self._vehicle_id_stream.read()
vehicle_id = vehicle_id_msg.data
self._logger.debug(
"The LidarDriverOperator received the vehicle id: {}".format(
vehicle_id))
# Connect to the world. We connect here instead of in the constructor
# to ensure we're connected to the latest world.
client, world = get_world(self._flags.simulator_host,
self._flags.simulator_port,
self._flags.simulator_timeout)
simulator_version = client.get_client_version()
set_simulation_mode(world, self._flags)
self._vehicle = get_vehicle_handle(world, vehicle_id)
# Install the Lidar.
lidar_blueprint = world.get_blueprint_library().find(
self._lidar_setup.lidar_type)
lidar_blueprint.set_attribute('channels',
str(self._lidar_setup.channels))
if not (simulator_version.startswith('0.8') or re.match(
'0\.9\.[0-6]', simulator_version) is not None): # noqa: W605
# Any simulator version after 0.9.6.
lidar_blueprint.set_attribute(
'range', str(self._lidar_setup.get_range_in_meters()))
else:
lidar_blueprint.set_attribute('range',
str(self._lidar_setup.range))
lidar_blueprint.set_attribute('points_per_second',
str(self._lidar_setup.points_per_second))
lidar_blueprint.set_attribute(
'rotation_frequency', str(self._lidar_setup.rotation_frequency))
lidar_blueprint.set_attribute('upper_fov',
str(self._lidar_setup.upper_fov))
lidar_blueprint.set_attribute('lower_fov',
str(self._lidar_setup.lower_fov))
if self._flags.simulator_lidar_frequency == -1:
lidar_blueprint.set_attribute('sensor_tick', '0.0')
else:
lidar_blueprint.set_attribute(
'sensor_tick',
str(1.0 / self._flags.simulator_lidar_frequency))
transform = self._lidar_setup.get_transform().as_simulator_transform()
self._logger.debug("Spawning a lidar: {}".format(self._lidar_setup))
# NOTE: The LiDAR can be attached on a rigid or a spring arm. If the
# LiDAR is attached too low, on a rigit, then the point cloud is empty.
# Otherwise, if the LiDAR is attached on a SpringArm it won't provide
# 360 degrees point clouds.
self._lidar = world.spawn_actor(lidar_blueprint,
transform,
attach_to=self._vehicle)
# Register the callback on the Lidar.
self._lidar.listen(self.process_point_clouds)
def run(self):
# Read the vehicle ID from the vehicle ID stream.
vehicle_id_msg = self._vehicle_id_stream.read()
vehicle_id = vehicle_id_msg.data
# Connect to the world. We connect here instead of in the constructor
# to ensure we're connected to the latest world.
_, world = get_world(self._flags.carla_host, self._flags.carla_port,
self._flags.carla_timeout)
set_simulation_mode(world, self._flags)
self._vehicle = get_vehicle_handle(world, vehicle_id)
def run(self):
# Read the vehicle id from the vehicle id stream
vehicle_id_msg = self._vehicle_id_stream.read()
vehicle_id = vehicle_id_msg.data
self._logger.debug(
"The IMUDriverOperator received the vehicle id: {}".format(
vehicle_id))
# Connect to the world. We connect here instead of in the constructor
# to ensure we're connected to the latest world.
_, world = get_world(self._flags.simulator_host,
self._flags.simulator_port,
self._flags.simulator_timeout)
set_simulation_mode(world, self._flags)
self._vehicle = get_vehicle_handle(world, vehicle_id)
# Install the IMU.
imu_blueprint = world.get_blueprint_library().find('sensor.other.imu')
# Set noise attributes.
imu_blueprint.set_attribute('noise_accel_stddev_x',
str(self._flags.accel_noise_stddev_x))
imu_blueprint.set_attribute('noise_accel_stddev_y',
str(self._flags.accel_noise_stddev_y))
imu_blueprint.set_attribute('noise_accel_stddev_z',
str(self._flags.accel_noise_stddev_z))
imu_blueprint.set_attribute('noise_gyro_stddev_x',
str(self._flags.gyro_noise_stddev_x))
imu_blueprint.set_attribute('noise_gyro_stddev_y',
str(self._flags.gyro_noise_stddev_y))
imu_blueprint.set_attribute('noise_gyro_stddev_z',
str(self._flags.gyro_noise_stddev_z))
if self._flags.simulator_imu_frequency == -1:
imu_blueprint.set_attribute('sensor_tick', '0.0')
else:
imu_blueprint.set_attribute(
'sensor_tick', str(1.0 / self._flags.simulator_imu_frequency))
transform = self._imu_setup.get_transform().as_simulator_transform()
self._logger.debug("Spawning an IMU: {}".format(self._imu_setup))
self._imu = world.spawn_actor(imu_blueprint,
transform,
attach_to=self._vehicle)
# Register the callback on the IMU.
self._imu.listen(self.process_imu)
def run(self):
# Read the vehicle ID from the vehicle ID stream.
vehicle_id = self._vehicle_id_stream.read().data
self._logger.debug(
"The GNSSDriverOperator received the vehicle id: {}".format(
vehicle_id))
# Connect to the world.
_, world = get_world(self._flags.simulator_host,
self._flags.simulator_port,
self._flags.simulator_timeout)
set_simulation_mode(world, self._flags)
# Retrieve the vehicle and install the GNSS sensor.
self._vehicle = get_vehicle_handle(world, vehicle_id)
gnss_blueprint = world.get_blueprint_library().find(
'sensor.other.gnss')
# Set the noise and bias parameters.
gnss_blueprint.set_attribute('noise_alt_stddev',
str(self._flags.gnss_noise_stddev_alt))
gnss_blueprint.set_attribute('noise_lat_stddev',
str(self._flags.gnss_noise_stddev_lat))
gnss_blueprint.set_attribute('noise_lon_stddev',
str(self._flags.gnss_noise_stddev_lon))
gnss_blueprint.set_attribute('noise_alt_bias',
str(self._flags.gnss_bias_alt))
gnss_blueprint.set_attribute('noise_lat_bias',
str(self._flags.gnss_bias_lat))
gnss_blueprint.set_attribute('noise_lon_bias',
str(self._flags.gnss_bias_lon))
if self._flags.simulator_gnss_frequency == -1:
gnss_blueprint.set_attribute('sensor_tick', '0.0')
else:
gnss_blueprint.set_attribute(
'sensor_tick', str(1.0 / self._flags.simulator_gnss_frequency))
transform = self._gnss_setup.get_transform().as_simulator_transform()
self._logger.debug("Spawning a GNSS sensor: {}".format(
self._gnss_setup))
self._gnss = world.spawn_actor(gnss_blueprint,
transform,
attach_to=self._vehicle)
# Register the callback on the GNSS sensor.
self._gnss.listen(self.process_gnss)
def run(self):
# Read the vehicle id from the vehicle id stream
vehicle_id_msg = self._vehicle_id_stream.read()
vehicle_id = vehicle_id_msg.data
self._logger.debug(
"The CarlaCameraDriverOperator received the vehicle id: {}".format(
vehicle_id))
# Connect to the world. We connect here instead of in the constructor
# to ensure we're connected to the latest world.
_, world = get_world(self._flags.carla_host, self._flags.carla_port,
self._flags.carla_timeout)
if world is None:
raise ValueError("There was an issue connecting to the simulator.")
set_simulation_mode(world, self._flags)
self._vehicle = get_vehicle_handle(world, vehicle_id)
# Install the camera.
camera_blueprint = world.get_blueprint_library().find(
self._camera_setup.camera_type)
camera_blueprint.set_attribute('image_size_x',
str(self._camera_setup.width))
camera_blueprint.set_attribute('image_size_y',
str(self._camera_setup.height))
camera_blueprint.set_attribute('fov', str(self._camera_setup.fov))
if self._flags.carla_camera_frequency == -1:
camera_blueprint.set_attribute('sensor_tick', '0.0')
else:
camera_blueprint.set_attribute(
'sensor_tick', str(1.0 / self._flags.carla_camera_frequency))
transform = self._camera_setup.get_transform().as_carla_transform()
self._logger.debug("Spawning a camera: {}".format(self._camera_setup))
self._camera = world.spawn_actor(camera_blueprint,
transform,
attach_to=self._vehicle)
# Register the callback on the camera.
self._camera.listen(self.process_images)
def run(self):
# Read the vehicle id from the vehicle id stream
vehicle_id_msg = self._vehicle_id_stream.read()
vehicle_id = vehicle_id_msg.data
self._logger.debug(
"The CarlaLidarDriverOperator received the vehicle id: {}".format(
vehicle_id))
# Connect to the world. We connect here instead of in the constructor
# to ensure we're connected to the latest world.
_, world = get_world(self._flags.carla_host, self._flags.carla_port,
self._flags.carla_timeout)
if world is None:
raise ValueError("There was an issue connecting to the simulator.")
set_simulation_mode(world, self._flags)
self._vehicle = get_vehicle_handle(world, vehicle_id)
# Install the Lidar.
lidar_blueprint = world.get_blueprint_library().find(
self._lidar_setup.lidar_type)
lidar_blueprint.set_attribute('channels',
str(self._lidar_setup.channels))
if (self._flags.carla_version == '0.9.7'
or self._flags.carla_version == '0.9.8'):
lidar_blueprint.set_attribute(
'range', str(self._lidar_setup.get_range_in_meters()))
else:
lidar_blueprint.set_attribute('range',
str(self._lidar_setup.range))
lidar_blueprint.set_attribute('points_per_second',
str(self._lidar_setup.points_per_second))
lidar_blueprint.set_attribute(
'rotation_frequency', str(self._lidar_setup.rotation_frequency))
lidar_blueprint.set_attribute('upper_fov',
str(self._lidar_setup.upper_fov))
lidar_blueprint.set_attribute('lower_fov',
str(self._lidar_setup.lower_fov))
if self._flags.carla_lidar_frequency == -1:
lidar_blueprint.set_attribute('sensor_tick', '0.0')
else:
lidar_blueprint.set_attribute(
'sensor_tick', str(1.0 / self._flags.carla_lidar_frequency))
transform = self._lidar_setup.get_transform().as_carla_transform()
self._logger.debug("Spawning a lidar: {}".format(self._lidar_setup))
if self._flags.carla_version == '0.9.8':
# Must attach lidar with a SpringArm, otherwise the point cloud is
# empty.
self._lidar = world.spawn_actor(
lidar_blueprint,
transform,
attach_to=self._vehicle,
attachment_type=carla.AttachmentType.SpringArm)
else:
self._lidar = world.spawn_actor(lidar_blueprint,
transform,
attach_to=self._vehicle)
# Register the callback on the Lidar.
self._lidar.listen(self.process_point_clouds)
