def toggle_play_pause(self):
"""
toggle play/pause
"""
if self.carla_status.synchronous_mode:
if self.carla_status.synchronous_mode_running:
self.carla_control_publisher.publish(
CarlaControl(command=CarlaControl.PAUSE))
else:
self.carla_control_publisher.publish(
CarlaControl(command=CarlaControl.PLAY))
def __init__(self):
super().__init__()
metadata = {'render.modes': ['human']}
rospy.init_node('carla_ego_gym', anonymous=True)
self.rate = rospy.Rate(20) # 100Hz
# control data
self.pub_ackermann_cmd = rospy.Publisher(
'/carla/ego_vehicle/ackermann_cmd', AckermannDrive, queue_size=5)
self.ackermann_cmd = AckermannDrive()
self.pub_carla_control_cmd = rospy.Publisher('/carla/control',
CarlaControl,
queue_size=5)
self.carla_ctrl_cmd = CarlaControl()
self.carla_ctrl_cmd.command = self.carla_ctrl_cmd.PLAY
self.pub_carla_control_cmd.publish(self.carla_ctrl_cmd)
self.carla_ctrl_cmd.command = self.carla_ctrl_cmd.STEP_ONCE
self.image_subscriber = rospy.Subscriber(
"/carla/ego_vehicle/camera/rgb/front/image_color", Image,
self.on_image)
self.collision_subscriber = rospy.Subscriber(
"/carla/ego_vehicle/collision", CarlaCollisionEvent,
self.on_collision)
self.lane_invasion_subscriber = rospy.Subscriber(
"/carla/ego_vehicle/lane_invasion", CarlaLaneInvasionEvent,
self.on_lane_invasion)
self.ego = EgoHandler()
# sensors data
self._reset_data()
self._steering_threshold = 0.3
# History data
self.last_steering = 0.0
max_steering = self.ego.get_max_steering_angle()
self.total_reward = 0.0
self._action_spec = array_spec.BoundedArraySpec(
shape=(2, ),
dtype=np.float32,
minimum=[0.0, (-1 * max_steering)],
maximum=[12.0, max_steering],
name='action')
self._observation_spec = array_spec.BoundedArraySpec(
shape=(84, 84, 3),
dtype=np.float32,
minimum=0,
maximum=1,
name='observation')
self._send_command([0, 0])
def step_once(self):
"""
execute one step
"""
self.carla_control_publisher.publish(
CarlaControl(command=CarlaControl.STEP_ONCE))