def __init__(self, carla_world, params):
"""
Constructor
:param carla_world: carla world object
:type carla_world: carla.World
:param params: dict of parameters, see settings.yaml
:type params: dict
"""
rospy.init_node("carla_bridge", anonymous=True)
self.parameters = params
self.actors = {}
self.carla_world = carla_world
self.synchronous_mode_update_thread = None
# set carla world settings
self.carla_settings = carla_world.get_settings()
rospy.loginfo("synchronous_mode: {}".format(
self.parameters["synchronous_mode"]))
self.carla_settings.synchronous_mode = self.parameters[
"synchronous_mode"]
rospy.loginfo("fixed_delta_seconds: {}".format(
self.parameters["fixed_delta_seconds"]))
self.carla_settings.fixed_delta_seconds = self.parameters[
"fixed_delta_seconds"]
carla_world.apply_settings(self.carla_settings)
self.comm = Communication()
self.update_lock = Lock()
self.carla_control_queue = queue.Queue()
self.status_publisher = CarlaStatusPublisher(
self.carla_settings.synchronous_mode)
if self.carla_settings.synchronous_mode:
self.carla_run_state = CarlaControl.PLAY
self.carla_control_subscriber = \
rospy.Subscriber("/carla/control", CarlaControl,
lambda control: self.carla_control_queue.put(control.command))
self.synchronous_mode_update_thread = Thread(
target=self._synchronous_mode_update)
self.synchronous_mode_update_thread.start()
else:
self.timestamp_last_run = 0.0
# register callback to create/delete actors
self.update_child_actors_lock = Lock()
self.carla_world.on_tick(self._carla_update_child_actors)
# register callback to update actors
self.carla_world.on_tick(self._carla_time_tick)
self.pseudo_actors = []
# add map
self.pseudo_actors.append(
Map(carla_world=self.carla_world, communication=self.comm))
# add global object sensor
self.pseudo_actors.append(
ObjectSensor(parent=None,
communication=self.comm,
actor_list=self.actors,
filtered_id=None))
def __init__(self, carla_world, params):
"""
Constructor
:param carla_world: carla world object
:type carla_world: carla.World
:param params: dict of parameters, see settings.yaml
:type params: dict
"""
# check CARLA version
dist = pkg_resources.get_distribution("carla")
if LooseVersion(dist.version) < LooseVersion(self.CARLA_VERSION):
raise ImportError(
"CARLA version {} or newer required. CARLA version found: {}".
format(self.CARLA_VERSION, dist))
self.parameters = params
self.actors = {}
self.pseudo_actors = []
self.carla_world = carla_world
self.synchronous_mode_update_thread = None
self.shutdown = Event()
# set carla world settings
self.carla_settings = carla_world.get_settings()
# workaround: settings can only applied within non-sync mode
if self.carla_settings.synchronous_mode:
self.carla_settings.synchronous_mode = False
carla_world.apply_settings(self.carla_settings)
rospy.loginfo("synchronous_mode: {}".format(
self.parameters["synchronous_mode"]))
self.carla_settings.synchronous_mode = self.parameters[
"synchronous_mode"]
rospy.loginfo("fixed_delta_seconds: {}".format(
self.parameters["fixed_delta_seconds"]))
self.carla_settings.fixed_delta_seconds = self.parameters[
"fixed_delta_seconds"]
carla_world.apply_settings(self.carla_settings)
self.comm = Communication()
self.update_lock = Lock()
self.carla_control_queue = queue.Queue()
self.status_publisher = CarlaStatusPublisher(
self.carla_settings.synchronous_mode,
self.carla_settings.fixed_delta_seconds)
# for waiting for ego vehicle control commands in synchronous mode,
# their ids are maintained in a list.
# Before tick(), the list is filled and the loop waits until the list is empty.
self._all_vehicle_control_commands_received = Event()
self._expected_ego_vehicle_control_command_ids = []
self._expected_ego_vehicle_control_command_ids_lock = Lock()
if self.carla_settings.synchronous_mode:
self.carla_run_state = CarlaControl.PLAY
self.carla_control_subscriber = \
rospy.Subscriber("/carla/control", CarlaControl,
lambda control: self.carla_control_queue.put(control.command))
self.synchronous_mode_update_thread = Thread(
target=self._synchronous_mode_update)
self.synchronous_mode_update_thread.start()
else:
self.timestamp_last_run = 0.0
self.update_actors_queue = queue.Queue(maxsize=1)
# start thread to update actors
self.update_actor_thread = Thread(
target=self._update_actors_thread)
self.update_actor_thread.start()
# create initially existing actors
self.update_actors_queue.put(
set([x.id for x in self.carla_world.get_snapshot()]))
# wait for first actors creation to be finished
self.update_actors_queue.join()
# register callback to update actors
self.on_tick_id = self.carla_world.on_tick(self._carla_time_tick)
# add world info
self.pseudo_actors.append(
WorldInfo(carla_world=self.carla_world, communication=self.comm))
# add global object sensor
self.pseudo_actors.append(
ObjectSensor(parent=None,
communication=self.comm,
actor_list=self.actors,
filtered_id=None))
self.debug_helper = DebugHelper(carla_world.debug)
# add traffic light pseudo sensor
self.pseudo_actors.append(
TrafficLightsSensor(parent=None,
communication=self.comm,
actor_list=self.actors))
def __init__(self, carla_world, params):
"""
Constructor
:param carla_world: carla world object
:type carla_world: carla.World
:param params: dict of parameters, see settings.yaml
:type params: dict
"""
self.parameters = params
self.actors = {}
self.pseudo_actors = []
self.carla_world = carla_world
self.synchronous_mode_update_thread = None
self.shutdown = Event()
# set carla world settings
self.carla_settings = carla_world.get_settings()
# workaround: settings can only applied within non-sync mode
if self.carla_settings.synchronous_mode:
self.carla_settings.synchronous_mode = False
carla_world.apply_settings(self.carla_settings)
rospy.loginfo("synchronous_mode: {}".format(
self.parameters["synchronous_mode"]))
self.carla_settings.synchronous_mode = self.parameters["synchronous_mode"]
rospy.loginfo("fixed_delta_seconds: {}".format(
self.parameters["fixed_delta_seconds"]))
self.carla_settings.fixed_delta_seconds = self.parameters["fixed_delta_seconds"]
carla_world.apply_settings(self.carla_settings)
self.update_lock = Lock()
self.carla_control_queue = queue.Queue()
# Communication topics
self.clock_publisher = rospy.Publisher('clock', Clock, queue_size=10)
self.tf_publisher = rospy.Publisher('tf', TFMessage, queue_size=100)
self.marker_publisher = rospy.Publisher('/carla/marker',
Marker,
queue_size=10)
self.actor_list_publisher = rospy.Publisher('/carla/actor_list',
CarlaActorList,
queue_size=10,
latch=True)
self.status_publisher = CarlaStatusPublisher(
self.carla_settings.synchronous_mode,
self.carla_settings.fixed_delta_seconds)
# for waiting for ego vehicle control commands in synchronous mode,
# their ids are maintained in a list.
# Before tick(), the list is filled and the loop waits until the list is empty.
self._all_vehicle_control_commands_received = Event()
self._expected_ego_vehicle_control_command_ids = []
self._expected_ego_vehicle_control_command_ids_lock = Lock()
if self.carla_settings.synchronous_mode:
self.carla_run_state = CarlaControl.PLAY
self.carla_control_subscriber = \
rospy.Subscriber("/carla/control", CarlaControl,
lambda control: self.carla_control_queue.put(control.command))
self.synchronous_mode_update_thread = Thread(
target=self._synchronous_mode_update)
self.synchronous_mode_update_thread.start()
else:
self.timestamp_last_run = 0.0
self.update_actors_queue = queue.Queue(maxsize=1)
# start thread to update actors
self.update_actor_thread = Thread(
target=self._update_actors_thread)
self.update_actor_thread.start()
# create initially existing actors
self.update_actors_queue.put(
set([x.id for x in self.carla_world.get_snapshot()]))
# wait for first actors creation to be finished
self.update_actors_queue.join()
# register callback to update actors
self.on_tick_id = self.carla_world.on_tick(self._carla_time_tick)
self.carla_weather_subscriber = \
rospy.Subscriber("/carla/weather_control",
CarlaWeatherParameters, self.on_weather_changed)
# add world info
self.pseudo_actors.append(WorldInfo(carla_world=self.carla_world,
node=self))
# add global object sensor
self.pseudo_actors.append(ObjectSensor(parent=None,
node=self,
actor_list=self.actors,
filtered_id=None))
self.debug_helper = DebugHelper(carla_world.debug)
# add traffic light pseudo sensor
self.pseudo_actors.append(TrafficLightsSensor(parent=None,
node=self,
actor_list=self.actors))
def __init__(self, carla_world, params):
"""
Constructor
:param carla_world: carla world object
:type carla_world: carla.World
:param params: dict of parameters, see settings.yaml
:type params: dict
"""
self.parameters = params
self.carla_world = carla_world
self.synchronous_mode_update_thread = None
self.shutdown = Event()
self.carla_settings = carla_world.get_settings()
if not self.parameters["passive"]:
# workaround: settings can only applied within non-sync mode
if self.carla_settings.synchronous_mode:
self.carla_settings.synchronous_mode = False
carla_world.apply_settings(self.carla_settings)
rospy.loginfo("synchronous_mode: {}".format(
self.parameters["synchronous_mode"]))
self.carla_settings.synchronous_mode = self.parameters["synchronous_mode"]
rospy.loginfo("fixed_delta_seconds: {}".format(
self.parameters["fixed_delta_seconds"]))
self.carla_settings.fixed_delta_seconds = self.parameters["fixed_delta_seconds"]
carla_world.apply_settings(self.carla_settings)
# active sync mode in the ros bridge only if CARLA world is configured in sync mode and
# passive mode is not enabled.
self.sync_mode = self.carla_settings.synchronous_mode and not self.parameters["passive"]
if self.carla_settings.synchronous_mode and self.parameters["passive"]:
rospy.loginfo(
"Passive mode is enabled and CARLA world is configured in synchronous mode. This configuration requires another client ticking the CARLA world.")
self.carla_control_queue = queue.Queue()
# actor factory
self.actor_factory = ActorFactory(self, carla_world, self.sync_mode)
# add world info
self.world_info = WorldInfo(carla_world=self.carla_world)
# add debug helper
self.debug_helper = DebugHelper(carla_world.debug)
# Communication topics
self.clock_publisher = rospy.Publisher('clock', Clock, queue_size=10)
self.status_publisher = CarlaStatusPublisher(
self.carla_settings.synchronous_mode,
self.carla_settings.fixed_delta_seconds)
# for waiting for ego vehicle control commands in synchronous mode,
# their ids are maintained in a list.
# Before tick(), the list is filled and the loop waits until the list is empty.
self._all_vehicle_control_commands_received = Event()
self._expected_ego_vehicle_control_command_ids = []
self._expected_ego_vehicle_control_command_ids_lock = Lock()
if self.sync_mode:
self.carla_run_state = CarlaControl.PLAY
self.carla_control_subscriber = \
rospy.Subscriber("/carla/control", CarlaControl,
lambda control: self.carla_control_queue.put(control.command))
self.synchronous_mode_update_thread = Thread(
target=self._synchronous_mode_update)
self.synchronous_mode_update_thread.start()
else:
self.timestamp_last_run = 0.0
self.actor_factory.start()
# register callback to update actors
self.on_tick_id = self.carla_world.on_tick(self._carla_time_tick)
# services configuration.
self._registered_actors = []
self.spawn_object_service = rospy.Service("/carla/spawn_object", SpawnObject,
self.spawn_object)
self.destroy_object_service = rospy.Service("/carla/destroy_object", DestroyObject,
self.destroy_object)
self.get_blueprints_service = rospy.Service("/carla/get_blueprints", GetBlueprints,
self.get_blueprints)
self.carla_weather_subscriber = \
rospy.Subscriber("/carla/weather_control",
CarlaWeatherParameters, self.on_weather_changed)
def initialize_bridge(self, carla_world, params):
"""
Initialize the bridge
"""
self.parameters = params
self.carla_world = carla_world
self.ros_timestamp = roscomp.ros_timestamp()
self.callback_group = roscomp.callback_groups.ReentrantCallbackGroup()
self.synchronous_mode_update_thread = None
self.shutdown = Event()
self.carla_settings = carla_world.get_settings()
if not self.parameters["passive"]:
# workaround: settings can only applied within non-sync mode
if self.carla_settings.synchronous_mode:
self.carla_settings.synchronous_mode = False
carla_world.apply_settings(self.carla_settings)
self.loginfo("synchronous_mode: {}".format(
self.parameters["synchronous_mode"]))
self.carla_settings.synchronous_mode = self.parameters[
"synchronous_mode"]
self.loginfo("fixed_delta_seconds: {}".format(
self.parameters["fixed_delta_seconds"]))
self.carla_settings.fixed_delta_seconds = self.parameters[
"fixed_delta_seconds"]
carla_world.apply_settings(self.carla_settings)
self.loginfo("Parameters:")
for key in self.parameters:
self.loginfo(" {}: {}".format(key, self.parameters[key]))
# active sync mode in the ros bridge only if CARLA world is configured in sync mode and
# passive mode is not enabled.
self.sync_mode = self.carla_settings.synchronous_mode and not self.parameters[
"passive"]
if self.carla_settings.synchronous_mode and self.parameters["passive"]:
self.loginfo(
"Passive mode is enabled and CARLA world is configured in synchronous mode. This configuration requires another client ticking the CARLA world."
)
self.carla_control_queue = queue.Queue()
# actor factory
self.actor_factory = ActorFactory(self, carla_world, self.sync_mode)
# add world info
self.world_info = WorldInfo(carla_world=self.carla_world, node=self)
# add debug helper
self.debug_helper = DebugHelper(carla_world.debug, self)
# Communication topics
self.clock_publisher = self.new_publisher(Clock, 'clock', 10)
self.status_publisher = CarlaStatusPublisher(
self.carla_settings.synchronous_mode,
self.carla_settings.fixed_delta_seconds, self)
# for waiting for ego vehicle control commands in synchronous mode,
# their ids are maintained in a list.
# Before tick(), the list is filled and the loop waits until the list is empty.
self._all_vehicle_control_commands_received = Event()
self._expected_ego_vehicle_control_command_ids = []
self._expected_ego_vehicle_control_command_ids_lock = Lock()
if self.sync_mode:
self.carla_run_state = CarlaControl.PLAY
self.carla_control_subscriber = \
self.new_subscription(CarlaControl, "/carla/control",
lambda control: self.carla_control_queue.put(control.command),
qos_profile=10, callback_group=self.callback_group)
self.synchronous_mode_update_thread = Thread(
target=self._synchronous_mode_update)
self.synchronous_mode_update_thread.start()
else:
self.timestamp_last_run = 0.0
self.actor_factory.start()
# register callback to update actors
self.on_tick_id = self.carla_world.on_tick(self._carla_time_tick)
# services configuration.
self._registered_actors = []
self.spawn_object_service = self.new_service(SpawnObject,
"/carla/spawn_object",
self.spawn_object)
self.destroy_object_service = self.new_service(
DestroyObject, "/carla/destroy_object", self.destroy_object)
self.get_blueprints_service = self.new_service(
GetBlueprints,
"/carla/get_blueprints",
self.get_blueprints,
callback_group=self.callback_group)
self.carla_weather_subscriber = \
self.new_subscription(CarlaWeatherParameters, "/carla/weather_control",
self.on_weather_changed, qos_profile=10, callback_group=self.callback_group)