class CarlaRosScenarioRunner(object):
"""
Execute scenarios via ros service
"""
def __init__(self, role_name, host, port, scenario_runner_path,
wait_for_ego):
"""
Constructor
"""
self._status_publisher = rospy.Publisher("/scenario_runner/status",
CarlaScenarioRunnerStatus,
queue_size=1,
latch=True)
self.scenario_runner_status_updated(ApplicationStatus.STOPPED)
self._scenario_runner = ScenarioRunnerRunner(
scenario_runner_path, host, port, wait_for_ego,
self.scenario_runner_status_updated, self.scenario_runner_log)
self._request_queue = queue.Queue()
self._execute_scenario_service = rospy.Service(
'/scenario_runner/execute_scenario', ExecuteScenario,
self.execute_scenario)
def scenario_runner_log(self, log): # pylint: disable=no-self-use
"""
Callback for application logs
"""
rospy.logwarn("[SC]{}".format(log))
def scenario_runner_status_updated(self, status):
"""
Executed from application runner whenever the status changed
"""
rospy.loginfo("Status updated to {}".format(status))
val = CarlaScenarioRunnerStatus.STOPPED
if status == ApplicationStatus.STOPPED:
val = CarlaScenarioRunnerStatus.STOPPED
elif status == ApplicationStatus.STARTING:
val = CarlaScenarioRunnerStatus.STARTING
elif status == ApplicationStatus.RUNNING:
val = CarlaScenarioRunnerStatus.RUNNING
elif status == ApplicationStatus.SHUTTINGDOWN:
val = CarlaScenarioRunnerStatus.SHUTTINGDOWN
else:
val = CarlaScenarioRunnerStatus.ERROR
status = CarlaScenarioRunnerStatus()
status.status = val
self._status_publisher.publish(status)
def execute_scenario(self, req):
"""
Execute a scenario
"""
rospy.loginfo("Scenario Execution requested...")
response = ExecuteScenarioResponse()
response.result = True
if not os.path.isfile(req.scenario.scenario_file):
rospy.logwarn("Requested scenario file not existing {}".format(
req.scenario.scenario_file))
response.result = False
else:
self._request_queue.put(req.scenario)
return response
def run(self):
"""
Control loop
:return:
"""
current_req = None
while not rospy.is_shutdown():
if current_req:
if self._scenario_runner.is_running():
rospy.loginfo(
"Scenario Runner currently running. Shutting down.")
self._scenario_runner.shutdown()
rospy.loginfo("Scenario Runner stopped.")
rospy.loginfo("Executing scenario {}...".format(
current_req.name))
# execute scenario
scenario_executed = self._scenario_runner.execute_scenario(
current_req.scenario_file)
if not scenario_executed:
rospy.logwarn("Unable to execute scenario.")
current_req = None
else:
try:
current_req = self._request_queue.get(block=True,
timeout=0.5)
except queue.Empty:
# no new request
pass
if self._scenario_runner.is_running():
rospy.loginfo("Scenario Runner currently running. Shutting down.")
self._scenario_runner.shutdown()
class CarlaRosScenarioRunner(object):
"""
Execute scenarios via ros service
"""
def __init__(self, role_name, host, port, scenario_runner_path, publish_waypoints, publish_goal):
"""
Constructor
"""
self._goal_publisher = None
if publish_goal:
self._goal_publisher = rospy.Publisher(
"/carla/{}/goal".format(role_name), PoseStamped, queue_size=1, latch=True)
self._target_speed_publisher = rospy.Publisher(
"/carla/{}/target_speed".format(role_name), Float64, queue_size=1, latch=True)
self._path_publisher = None
if publish_waypoints:
self._path_publisher = rospy.Publisher(
"/carla/{}/waypoints".format(role_name), Path, queue_size=1, latch=True)
self._status_publisher = rospy.Publisher(
"/scenario_runner/status", CarlaScenarioRunnerStatus, queue_size=1, latch=True)
self.scenario_runner_status_updated(ApplicationStatus.STOPPED)
self._scenario_runner = ScenarioRunnerRunner(
scenario_runner_path,
host,
port,
self.scenario_runner_status_updated,
self.scenario_runner_log)
self._request_queue = queue.Queue()
self._execute_scenario_service = rospy.Service(
'/scenario_runner/execute_scenario', ExecuteScenario, self.execute_scenario)
def scenario_runner_log(self, log): # pylint: disable=no-self-use
"""
Callback for application logs
"""
rospy.logwarn("[SC]{}".format(log))
def scenario_runner_status_updated(self, status):
"""
Executed from application runner whenever the status changed
"""
rospy.loginfo("Status updated to {}".format(status))
val = CarlaScenarioRunnerStatus.STOPPED
if status == ApplicationStatus.STOPPED:
val = CarlaScenarioRunnerStatus.STOPPED
elif status == ApplicationStatus.STARTING:
val = CarlaScenarioRunnerStatus.STARTING
elif status == ApplicationStatus.RUNNING:
val = CarlaScenarioRunnerStatus.RUNNING
elif status == ApplicationStatus.SHUTTINGDOWN:
val = CarlaScenarioRunnerStatus.SHUTTINGDOWN
else:
val = CarlaScenarioRunnerStatus.ERROR
status = CarlaScenarioRunnerStatus()
status.status = val
self._status_publisher.publish(status)
def execute_scenario(self, req):
"""
Execute a scenario
"""
rospy.loginfo("Scenario Execution requested...")
response = ExecuteScenarioResponse()
response.result = True
if not os.path.isfile(req.scenario.scenario_file):
rospy.logwarn("Requested scenario file not existing {}".format(
req.scenario.scenario_file))
response.result = False
else:
self._request_queue.put(req.scenario)
return response
def run(self):
"""
Control loop
:return:
"""
current_req = None
while not rospy.is_shutdown():
if current_req:
if self._scenario_runner.is_running():
rospy.loginfo("Scenario Runner currently running. Shutting down.")
self._scenario_runner.shutdown()
rospy.loginfo("Scenario Runner stopped.")
rospy.loginfo("Executing scenario {}...".format(current_req.name))
# execute scenario
scenario_executed = self._scenario_runner.execute_scenario(
current_req.scenario_file)
if scenario_executed:
# publish target speed
self._target_speed_publisher.publish(Float64(data=current_req.target_speed))
# publish last pose of route as goal
# (can be used in conjunction with carla_waypoint_publisher)
if self._goal_publisher:
goal = PoseStamped()
if current_req.waypoints:
goal.pose = current_req.waypoints[-1]
goal.header.stamp = rospy.get_rostime()
goal.header.frame_id = "map"
self._goal_publisher.publish(goal)
# publish the waypoints (can directly be used within carla_ad_agent)
if self._path_publisher:
path = Path()
path.header.stamp = rospy.get_rostime()
path.header.frame_id = "map"
for pose in current_req.waypoints:
path.poses.append(PoseStamped(pose=pose))
self._path_publisher.publish(path)
else:
rospy.logwarn("Unable to execute scenario.")
current_req = None
else:
try:
current_req = self._request_queue.get(block=True, timeout=0.5)
except queue.Empty:
# no new request
pass
if self._scenario_runner.is_running():
rospy.loginfo("Scenario Runner currently running. Shutting down.")
self._scenario_runner.shutdown()