From 0f934cd1f15cb3190a1e188140b33a90cf2629cc Mon Sep 17 00:00:00 2001 From: Laurent George Date: Thu, 22 Mar 2018 15:28:36 +0100 Subject: [PATCH 01/11] Add a minimal ros bridge: camera, lidar, control First version of the bridge written in python. Inspired by the work of WenchaoDing (https://gist.github.com/WenchaoDing/8bdf2b6753f0cc6cb1c4019529a79c9f). --- carla_ros_bridge/CMakeLists.txt | 199 +++++++ carla_ros_bridge/Readme.md | 90 +++ .../assets/depth_cloud_and_lidar.png | Bin 0 -> 420714 bytes .../assets/rviz_carla_default.png | Bin 0 -> 333608 bytes carla_ros_bridge/client.launch | 7 + carla_ros_bridge/client_with_rviz.launch | 5 + .../config/carla_default_rviz.cfg | 238 ++++++++ .../config/setting_focus_on_player.yaml | 97 +++ carla_ros_bridge/config/settings.yaml | 66 +++ carla_ros_bridge/package.xml | 75 +++ carla_ros_bridge/src/client.py | 556 ++++++++++++++++++ 11 files changed, 1333 insertions(+) create mode 100644 carla_ros_bridge/CMakeLists.txt create mode 100644 carla_ros_bridge/Readme.md create mode 100644 carla_ros_bridge/assets/depth_cloud_and_lidar.png create mode 100644 carla_ros_bridge/assets/rviz_carla_default.png create mode 100644 carla_ros_bridge/client.launch create mode 100644 carla_ros_bridge/client_with_rviz.launch create mode 100644 carla_ros_bridge/config/carla_default_rviz.cfg create mode 100644 carla_ros_bridge/config/setting_focus_on_player.yaml create mode 100644 carla_ros_bridge/config/settings.yaml create mode 100644 carla_ros_bridge/package.xml create mode 100755 carla_ros_bridge/src/client.py diff --git a/carla_ros_bridge/CMakeLists.txt b/carla_ros_bridge/CMakeLists.txt new file mode 100644 index 000000000..61a37199e --- /dev/null +++ b/carla_ros_bridge/CMakeLists.txt @@ -0,0 +1,199 @@ +cmake_minimum_required(VERSION 2.8.3) +project(carla_ros_bridge) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy + sensor_msgs + tf +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# sensor_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES carla_ros_bridge +# CATKIN_DEPENDS rospy sensor_msgs tf +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/carla_ros_bridge.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/carla_ros_bridge_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_carla_ros_bridge.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/carla_ros_bridge/Readme.md b/carla_ros_bridge/Readme.md new file mode 100644 index 000000000..c30c65efb --- /dev/null +++ b/carla_ros_bridge/Readme.md @@ -0,0 +1,90 @@ + +# Ros bridge for Carla simulator + +This ros package aims at providing a simple ros bridge for carla simulator. + +![rviz setup](./assets/rviz_carla_default.png "rviz") +![depthcloud](./assets/depth_cloud_and_lidar.png "depthcloud") + +![short video](https://youtu.be/S_NoN2GBtdY) + + +# Features/Roadmap/TODO + +- [x] Cameras (depth, segmentation, rgb) support +- [x] Add camera matrix +- [x] Lidar sensor support +- [x] Transform publications +- [x] Manual control using ackermann msg +- [x] Autopilot mode using rosparam +- [x] Rosbag in the bridge (in order to avoid rosbag recoard -a small time errors) +- [x] Handle ros dependencies +- [x] Marker/bounding box messages for cars/pedestrian +- [ ] Better looking color map for segmentation +- [ ] Support dynamic change (restarting simulation using a topic/rosparam) + + +# Setup + +Create a catkin workspace and install carla_ros_bridge package + + mdkir -p ~/catkin_ws/src + ln -s path_to_carla_ros_bridge ~/catkin_ws/src/ + source /opt/ros/lunar/setup.bash # if you use kinetic source /opt/ros/kinetic/setup.bash + cd ~/catkin_ws ; catkin_make + source ~/catkin_ws/devel/setup.bash + +Then install dependencies using rosdep (you can also use apt-get) + + rosdep install --from-paths ~/catkin_ws/ + + +# Start the ros bridge + +First run the simulator (see carla documentation) + + ./CarlaUE4.sh /Game/Maps/Town01 -carla-server -benchmark -fps=15 -windowed -ResX=320 -ResY=240 + +Then start the ros bridge: + + roslaunch carla_ros_client client.launch + +To start the ros bridge with rviz use: + + roslaunch carla_ros_client client_with_rviz.launch + +You can setup the wanted camera/sensors in config/settings.yaml. + +# Autopilot control + +To enable autopilot control set the ros param carla_autopilot to True + + rosparam set carla_autopilot True + +# Manual control + +To enable manual control set the ros param carla_autopilot to False + + rosparam set carla_autopilot False + + +Then you can send command to the car using the /ackermann_cmd topic. + +Example of forward movements, speed in in meters/sec. + + rostopic pub /cmd_vel ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, + jerk: 0.0}" -r 10 + + +Example of forward with steering + + rostopic pub /cmd_vel ackermann_msgs/AckermannDrive "{steering_angle: 5.41, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, + jerk: 0.0}" -r 10 + + Warning: the 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zo*i}zL|i}F6kqkqX>4rFt5oq$N&Wiu4Q)PS1mU@3)T}{@9?riwA8Op zc~!c4-%Nea8UB~+0 zVT9-A4#Eb&!r-^#ht^s@{5PgPRsT?x|6TjPzugnv@v**P$^NV``qtl!f~T@7GR2Qy Gzx#jRQ2nm} literal 0 HcmV?d00001 diff --git a/carla_ros_bridge/client.launch b/carla_ros_bridge/client.launch new file mode 100644 index 000000000..07c77f5fd --- /dev/null +++ b/carla_ros_bridge/client.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/carla_ros_bridge/client_with_rviz.launch b/carla_ros_bridge/client_with_rviz.launch new file mode 100644 index 000000000..16160d90e --- /dev/null +++ b/carla_ros_bridge/client_with_rviz.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/carla_ros_bridge/config/carla_default_rviz.cfg b/carla_ros_bridge/config/carla_default_rviz.cfg new file mode 100644 index 000000000..30d63c909 --- /dev/null +++ b/carla_ros_bridge/config/carla_default_rviz.cfg @@ -0,0 +1,238 @@ +Panels: + - Class: rviz/Displays + Help Height: 102 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /DepthCloud1/Auto Size1 + Splitter Ratio: 0.5 + Tree Height: 334 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: true + Name: Time + SyncMode: 0 + SyncSource: Front_cam + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Grid1 + - /DepthCloud1/Auto Size1 + Splitter Ratio: 0.496614009141922 + Tree Height: 191 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.10000000149011612 + Cell Size: 1 + Class: rviz/Grid + Color: 170; 164; 162 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 1000 + Reference Frame: + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /CameraRGB/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Front_cam + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera_depth/image_raw + Max Value: 30 + Median window: 5 + Min Value: 0 + Name: Depth + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Auto Size: + Auto Size Factor: 1 + Value: true + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/DepthCloud + Color: 255; 255; 255 + Color Image Topic: /CameraRGB/image_raw + Color Transformer: RGB8 + Color Transport Hint: raw + Decay Time: 0 + Depth Map Topic: /camera_depth/image_raw + Depth Map Transport Hint: raw + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: DepthCloud + Occlusion Compensation: + Occlusion Time-Out: 30 + Value: false + Position Transformer: XYZ + Queue Size: 5 + Selectable: true + Size (Pixels): 3 + Style: Flat Squares + Topic Filter: true + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /vehicles + Name: non_player_vehicles + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /player_vehicle + Name: Marker + Namespaces: + "": true + Queue Size: 100 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /lidar_0 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 20.504690170288086 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.37039822340011597 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.0753960609436035 + Saved: ~ +Window Geometry: + "&Depth": + collapsed: false + "&Time": + collapsed: false + "&Views": + collapsed: false + D&isplays: + collapsed: false + Displays: + collapsed: false + Front_&cam: + collapsed: false + Height: 994 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Width: 1680 + X: 0 + Y: 30 diff --git a/carla_ros_bridge/config/setting_focus_on_player.yaml b/carla_ros_bridge/config/setting_focus_on_player.yaml new file mode 100644 index 000000000..4321c2370 --- /dev/null +++ b/carla_ros_bridge/config/setting_focus_on_player.yaml @@ -0,0 +1,97 @@ +# carla original variable name is used unchanged here (i.e CamelCase, etc) +carla: + host: localhost + port: 2000 + QualityLevel: Low # Low or Epic + SynchronousMode: True + + sensors: + CameraRGB: + SensorType: CAMERA + carla_settings: + PostProcessing: SceneFinal + ImageSizeX: 800 + ImageSizeY: 600 + FOV: 90 + PositionX: -5.00 + PositionY: 0 + PositionZ: 1.30 + RotationPitch: 0 + RotationRoll: 0 + RotationYaw: 0 + + camera_depth: + SensorType: CAMERA + carla_settings: + PostProcessing: Depth + ImageSizeX: 800 + ImageSizeY: 600 + FOV: 90 + PositionX: -5.00 + PositionY: 0 + PositionZ: 1.30 + RotationPitch: 0 + RotationRoll: 0 + RotationYaw: 0 + + camera_depth_front: + SensorType: CAMERA + carla_settings: + PostProcessing: Depth + ImageSizeX: 800 + ImageSizeY: 600 + FOV: 90 + PositionX: 7.00 + PositionY: 0 + PositionZ: 1.30 + RotationPitch: 0 + RotationRoll: 0 + RotationYaw: 180 + + CameraRGB_front: + SensorType: CAMERA + carla_settings: + PostProcessing: SceneFinal + ImageSizeX: 800 + ImageSizeY: 600 + FOV: 90 + PositionX: 7.00 + PositionY: 0 + PositionZ: 1.30 + RotationPitch: 0 + RotationRoll: 0 + RotationYaw: 180 + + + + + #camera_semantic_segmentation: + # SensorType: CAMERA + # carla_settings: + # PostProcessing: SemanticSegmentation + # ImageSizeX: 800 + # ImageSizeY: 600 + # FOV: 90 + # PositionX: 0.00 + # PositionY: 0 + # PositionZ: 1.30 + # RotationPitch: 0 + # RotationRoll: 0 + # RotationYaw: 0 + + + lidar_0: + SensorType: LIDAR_RAY_CAST + carla_settings: + Channels: 4 + Range: 120 + PointsPerSecond: 200000 + RotationFrequency: 25 + UpperFovLimit: 1.6 + LowerFovLimit: -1.6 + PositionX: 0.0 + PositionY: 0 + PositionZ: 1.50 + RotationPitch: 0 + RotationYaw: 0 + RotationRoll: 0 diff --git a/carla_ros_bridge/config/settings.yaml b/carla_ros_bridge/config/settings.yaml new file mode 100644 index 000000000..4aacfebfb --- /dev/null +++ b/carla_ros_bridge/config/settings.yaml @@ -0,0 +1,66 @@ +# carla original variable name is used unchanged here (i.e CamelCase, etc) +carla: + host: localhost + port: 2000 + QualityLevel: Low # Low or Epic + SynchronousMode: True + + sensors: + CameraRGB: + SensorType: CAMERA + carla_settings: + PostProcessing: SceneFinal + ImageSizeX: 800 + ImageSizeY: 600 + FOV: 90 + PositionX: 0.00 + PositionY: 0 + PositionZ: 1.00 + RotationPitch: 0 + RotationRoll: 0 + RotationYaw: 0 + + camera_depth: + SensorType: CAMERA + carla_settings: + PostProcessing: Depth + ImageSizeX: 800 + ImageSizeY: 600 + FOV: 90 + PositionX: 0.00 + PositionY: 0 + PositionZ: 1.00 + RotationPitch: 0 + RotationRoll: 0 + RotationYaw: 0 + + camera_semantic_segmentation: + SensorType: CAMERA + carla_settings: + PostProcessing: SemanticSegmentation + ImageSizeX: 800 + ImageSizeY: 600 + FOV: 90 + PositionX: 0.00 + PositionY: 0 + PositionZ: 1.30 + RotationPitch: 0 + RotationRoll: 0 + RotationYaw: 0 + + + lidar_0: + SensorType: LIDAR_RAY_CAST + carla_settings: + Channels: 4 + Range: 120 + PointsPerSecond: 200000 + RotationFrequency: 25 + UpperFovLimit: 1.6 + LowerFovLimit: -1.6 + PositionX: 0.0 + PositionY: 0 + PositionZ: 1.50 + RotationPitch: 0 + RotationYaw: 0 + RotationRoll: 0 diff --git a/carla_ros_bridge/package.xml b/carla_ros_bridge/package.xml new file mode 100644 index 000000000..89bc56a61 --- /dev/null +++ b/carla_ros_bridge/package.xml @@ -0,0 +1,75 @@ + + + carla_ros_bridge + 0.0.1 + The carla_ros_bridge package + + + + + lgeorge + + + + + + MIT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + sensor_msgs + tf + rospy + sensor_msgs + tf + rospy + sensor_msgs + tf + tf2 + rviz + ackermann_msgs + cv_bridge + geometry_msgs + std_msgs + rosbag_storage + + + + + + + + diff --git a/carla_ros_bridge/src/client.py b/carla_ros_bridge/src/client.py new file mode 100755 index 000000000..cd7ab77b6 --- /dev/null +++ b/carla_ros_bridge/src/client.py @@ -0,0 +1,556 @@ +#!/usr/bin/env python +""" +Ros Bridge for carla + +Using python2 for now, simpler for user on ubuntu to have python2 +(default setup for kinetic and lunar) + +# TODO: group tf in same message ? + +""" + +import math +import numpy as np +import random +import time +import copy + +import rosbag +import rospy +import tf + +from carla.client import make_carla_client +from carla.sensor import Camera, Lidar, LidarMeasurement, Image +from carla.sensor import Transform as carla_Transform +from carla.settings import CarlaSettings + +from ackermann_msgs.msg import AckermannDrive +from cv_bridge import CvBridge +from geometry_msgs.msg import TransformStamped, Transform, Pose +from rosgraph_msgs.msg import Clock +from sensor_msgs.msg import Image as RosImage +from sensor_msgs.msg import PointCloud2, CameraInfo +from sensor_msgs.point_cloud2 import create_cloud_xyz32 +from std_msgs.msg import Header +from tf2_msgs.msg import TFMessage +from visualization_msgs.msg import MarkerArray, Marker + + +def carla_transform_to_ros_transform(carla_transform): + transform_matrix = carla_transform.matrix + + x, y, z = tf.transformations.translation_from_matrix(transform_matrix) + quat = tf.transformations.quaternion_from_matrix(transform_matrix) + + + ros_transform = Transform() + # remember that we go from left-handed system (unreal) to right-handed system (ros) + ros_transform.translation.x = x + ros_transform.translation.y = -y + ros_transform.translation.z = z + + roll, pitch, yaw = tf.transformations.euler_from_quaternion(quat) + roll = -roll + pitch = pitch + yaw = -yaw + + quat = tf.transformations.quaternion_from_euler(roll, pitch, yaw) + ros_transform.rotation.x = quat[0] + ros_transform.rotation.y = quat[1] + ros_transform.rotation.z = quat[2] + ros_transform.rotation.w = quat[3] + + return ros_transform + + +def carla_transform_to_ros_pose(carla_transform): + transform_matrix = Transform(carla_transform).matrix + + x, y, z = tf.transformations.translation_from_matrix(transform_matrix) + quat = tf.transformations.quaternion_from_matrix(transform_matrix) + + ros_transform = Transform() + ros_transform.translation.x = x + ros_transform.translation.y = y + ros_transform.translation.z = z + + ros_transform.rotation.x = quat[0] + ros_transform.rotation.y = quat[1] + ros_transform.rotation.z = quat[2] + ros_transform.rotation.w = quat[3] + + return ros_transform + +def _ros_transform_to_pose(ros_transform): + pose = Pose() + pose.position.x, pose.position.y, pose.position.z = ros_transform.translation.x, \ + ros_transform.translation.y, \ + ros_transform.translation.z + + pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w = ros_transform.rotation.x, \ + ros_transform.rotation.y, \ + ros_transform.rotation.z,\ + ros_transform.rotation.w + return pose + + +def update_marker_pose(object, base_marker): + ros_transform = carla_transform_to_ros_transform(carla_Transform(object.transform)) + base_marker.pose = _ros_transform_to_pose(ros_transform) + + base_marker.scale.x = object.box_extent.x * 2.0 + base_marker.scale.y = object.box_extent.y * 2.0 + base_marker.scale.z = object.box_extent.z * 2.0 * 2.0 # <-- carla seems to report only half of the bounding box on thix axis + + base_marker.type = Marker.CUBE + +lookup_table_marker_id = {} # <-- TODO: migrate this in a class +def get_vehicle_marker(object, header, agent_id=88, player=False): + """ + :param pb2 object (vehicle, pedestrian or traffic light) + :param base_marker: a marker to fill/update + :return: a marker + """ + marker = Marker(header=header) + marker.color.a = 0.3 + if player: + marker.color.g = 1 + marker.color.r = 0 + marker.color.b = 0 + else: + marker.color.r = 1 + marker.color.g = 0 + marker.color.b = 0 + + if agent_id not in lookup_table_marker_id: + lookup_table_marker_id[agent_id] = len(lookup_table_marker_id) + _id = lookup_table_marker_id[agent_id] + + marker.id = _id + marker.text = "id = {}".format(_id) + update_marker_pose(object, marker) + + + if not player: # related to bug request #322 + marker.scale.x = marker.scale.x / 100.0 + marker.scale.y = marker.scale.y / 100.0 + marker.scale.z = marker.scale.z / 100.0 + + # the box pose seems to require a little bump to be well aligned with camera depth + marker.pose.position.z += marker.scale.z / 2.0 + + return marker + + +class CarlaRosBridge(object): + """ + Carla Ros bridge + """ + def __init__(self, client, params, rate=15): + """ + + :param params: dict of parameters, see settings.yaml + :param rate: rate to query data from carla in Hz + """ + self.message_to_publish = [] + self.param_sensors = params['sensors'] + self.client = client + self.carla_settings = CarlaSettings() + self.carla_settings.set( + SendNonPlayerAgentsInfo=True, + NumberOfVehicles=20, + NumberOfPedestrians=40, + WeatherId=random.choice([1, 3, 7, 8, 14]), + SynchronousMode=params['SynchronousMode'], + QualityLevel=params['QualityLevel']) + self.carla_settings.randomize_seeds() + + self.cv_bridge = CvBridge() + + self.cur_time = rospy.Time.from_sec(0) # at the beginning of simulation + self.carla_game_stamp = 0 + self.carla_platform_stamp = 0 + self.rate = rospy.Rate(rate) + self.publishers = {} + self._camera_infos = {} + self.processes = [] + self.publishers['tf'] = rospy.Publisher("/tf", TFMessage, queue_size=100) + self.publishers['vehicles'] = rospy.Publisher("/vehicles", MarkerArray, queue_size=10) + self.publishers['vehicles_text'] = rospy.Publisher("/vehicles_text", MarkerArray, queue_size=10) + self.publishers['player_vehicle'] = rospy.Publisher("/player_vehicle", Marker, queue_size=10) + self.publishers['pedestrians'] = rospy.Publisher("/pedestrians", MarkerArray, queue_size=10) + self.publishers['traffic_lights'] = rospy.Publisher("/traffic_lights", MarkerArray, queue_size=10) + + # default control command + self.cur_control = {'steer': 0.0, 'throttle': 0.0, 'brake': 0.0, 'hand_brake': False, 'reverse': False} + self.cmd_vel_subscriber = rospy.Subscriber('/ackermann_cmd', AckermannDrive, self.set_new_control_callback) + self.world_link = 'map' + self.sensors = {} + self.tf_to_publish = [] + + def set_new_control_callback(self, data): + """ + Convert a Ackerman drive msg into carla control msg + + Right now the control is really simple and don't enforce acceleration and jerk command, nor the steering acceleration too + :param data: AckermannDrive msg + :return: + """ + steering_angle_ctrl = data.steering_angle + speed_ctrl = data.speed + + max_steering_angle = math.radians(500) # 500 degrees is the max steering angle that I have on my car, + # would be nice if we could use the value provided by carla + max_speed = 27 # just a value for me, 27 m/sec seems to be a reasonable max speed for now + + control = {} + + if abs(steering_angle_ctrl) > max_steering_angle: + rospy.logerr("Max steering angle reached, clipping value") + steering_angle_ctrl = np.clip(steering_angle_ctrl, -max_steering_angle, max_steering_angle) + + if abs(speed_ctrl) > max_speed: + rospy.logerr("Max speed reached, clipping value") + speed_ctrl = np.clip(speed_ctrl, -max_speed, max_speed) + + if speed_ctrl == 0: + control['brake'] = True + + control['steer'] = steering_angle_ctrl / max_steering_angle + control['throttle'] = abs(speed_ctrl / max_speed) + control['reverse'] = True if speed_ctrl < 0 else False + + self.cur_control = control + + def send_msgs(self): + """ + Publish all message store then clean the list of message to publish + + :return: + """ + for name, message in self.message_to_publish: + self.publishers[name].publish(message) + self.message_to_publish = [] + + def add_publishers(self): + self.publishers['clock'] = rospy.Publisher("clock", Clock, queue_size=10) + for name, _ in self.param_sensors.items(): + self.add_sensor(name) + + def compute_cur_time_msg(self): + self.message_to_publish.append(('clock', Clock(self.cur_time))) + + def compute_sensor_msg(self, name, sensor_data): + if isinstance(sensor_data, Image): + self.compute_camera_transform(name, sensor_data) + self.compute_camera_sensor_msg(name, sensor_data) + elif isinstance(sensor_data, LidarMeasurement): + self.compute_lidar_transform(name, sensor_data) + self.compute_lidar_sensor_msg(name, sensor_data) + else: + rospy.logerr("{}, {} is not handled yet".format(name, sensor_data)) + + + def compute_camera_sensor_msg(self, name, sensor): + if sensor.type == 'Depth': + # ROS PEP 0118 : Depth images are published as sensor_msgs/Image encoded as 32-bit float. Each pixel is a depth (along the camera Z axis) in meters. + data = np.float32(sensor.data * 1000.0) # in carla 1.0 = 1km + encoding = 'passthrough' + elif sensor.type == 'SemanticSegmentation': + encoding = 'mono16' # for semantic segmentation we use mono16 in order to be able to limit range in rviz + data = np.uint16(sensor.data) + else: + encoding = 'rgb8' + data = sensor.data + img_msg = self.cv_bridge.cv2_to_imgmsg(data, encoding=encoding) + img_msg.header.frame_id = name + img_msg.header.stamp = self.cur_time + self.message_to_publish.append((name + '/image_raw', img_msg)) + + cam_info = self._camera_infos[name] + cam_info.header = img_msg.header + self.message_to_publish.append((name + '/camera_info', cam_info)) + + + def compute_lidar_sensor_msg(self, name, sensor): + header = Header() + header.frame_id = name + header.stamp = self.cur_time + # we take the oposite of y axis (as lidar point are express in left handed coordinate system, and ros need right handed) + # we need a copy here, because the data are read only in carla numpy array + new_sensor_data = sensor.data.copy() + new_sensor_data = -new_sensor_data + # we also need to permute x and y , todo find why + new_sensor_data = new_sensor_data[..., [1, 0, 2]] + point_cloud_msg = create_cloud_xyz32(header, new_sensor_data) + self.message_to_publish.append((name, point_cloud_msg)) + + + def compute_player_pose_msg(self, player_measurement): + #print("Player measurement is {}".format(player_measurement)) + t = TransformStamped() + t.header.stamp = self.cur_time + t.header.frame_id = self.world_link + t.child_frame_id = "base_link" + t.transform = carla_transform_to_ros_transform(carla_Transform(player_measurement.transform)) + header = Header() + header.stamp = self.cur_time + header.frame_id = self.world_link + marker = get_vehicle_marker(player_measurement, header=header, agent_id=0, player=True) + self.message_to_publish.append(('player_vehicle', marker)) + self.tf_to_publish.append(t) + + def compute_non_player_agent_msg(self, non_player_agents): + """ + + :param non_player_agents: list of carla_server_pb2.Agent return by carla API, + with field 'id', 'vehicle', 'pedestrian', 'traffic_light', 'speed_limit_sign' + + :return: + """ + vehicles = [(agent.id, agent.vehicle) for agent in non_player_agents if agent.HasField('vehicle')] + pedestrians = [(agent.id, agent.pedestrian) for agent in non_player_agents if agent.HasField('pedestrian')] + traffic_lights = [(agent.id, agent.traffic_light) for agent in non_player_agents if agent.HasField('traffic_light')] + + # TODO: add traffic signs + #traffic_lights = [(agent.id, agent.traffic_light) for agent in non_player_agents if agent.HasField('traffic_light')] + + header = Header(stamp=self.cur_time, frame_id=self.world_link) + + self.compute_vehicle_msgs(vehicles, header) + #self.compute_pedestrian_msgs(pedestrians) + #self.compute_traffic_light_msgs(traffic_lights) + + + def compute_vehicle_msgs(self, vehicles, header, agent_id=8): + """ + Add MarkerArray msg for vehicle to the list of message to be publish + + :param vehicles: list of carla pb2 vehicle + """ + if not(vehicles): + return + + markers = [get_vehicle_marker(vehicle, header, agent_id) for agent_id, vehicle in vehicles] + marker_array = MarkerArray(markers) + self.message_to_publish.append(('vehicles', marker_array)) + + # adding text in rviz (TODO: refactor) + markers_text = [copy.copy(marker) for marker in markers] + for marker in markers_text: + marker.type = Marker.TEXT_VIEW_FACING + + marker_array = MarkerArray(markers_text) + self.message_to_publish.append(('vehicles_text', marker_array)) + + + def run(self): + # creating ros publishers, and adding sensors to carla settings + self.add_publishers() + + # load settings into the server + scene = self.client.load_settings(self.carla_settings) + # Choose one player start at random. + number_of_player_starts = len(scene.player_start_spots) + player_start = random.randint(0, max(0, number_of_player_starts - 1)) + # start + self.client.start_episode(player_start) + while not rospy.is_shutdown(): + measurements, sensor_data = self.client.read_data() + self.carla_game_stamp = measurements.game_timestamp + self.carla_platform_stamp = measurements.platform_timestamp + self.cur_time = rospy.Time.from_sec(self.carla_game_stamp * 1000.0) + self.compute_cur_time_msg() + self.compute_player_pose_msg(measurements.player_measurements) + self.compute_non_player_agent_msg(measurements.non_player_agents) + + self.send_msgs() + + for name, sensor in sensor_data.items(): + self.compute_sensor_msg(name, sensor) + + tf_msg = TFMessage(self.tf_to_publish) + self.publishers['tf'].publish(tf_msg) + self.tf_to_publish = [] + + if rospy.get_param('carla_autopilot', True): + control = measurements.player_measurements.autopilot_control + self.client.send_control(control) + else: + control = self.cur_control + self.client.send_control(**control) + + + #self.rate.sleep() # <-- no need of sleep the read call should already be blocking + + + def add_sensor(self, name): + """ + Add sensor base on sensor name in settings + :param name: + :return: + """ + sensor_type = self.param_sensors[name]['SensorType'] + params = self.param_sensors[name]['carla_settings'] + rospy.loginfo("Adding publisher for sensor {}".format(name)) + + if sensor_type == 'LIDAR_RAY_CAST': + self.add_lidar_sensor(name, params) + elif sensor_type == 'CAMERA': + self.add_camera_sensor(name, params) + else: + rospy.logerr("{sensor_type} not implemented".format(sensor_type=sensor_type)) + + + def compute_camera_transform(self, name, sensor_data): + parent_frame_id = "base_link" + child_frame_id = name + + t = TransformStamped() + t.header.stamp = self.cur_time + t.header.frame_id = parent_frame_id + t.child_frame_id = child_frame_id + + # for camera we reorient it to look at the same axis as the opencv projection + # in order to get easy depth cloud for rgbd camera + t.transform = carla_transform_to_ros_transform(self.sensors[name].get_transform()) + + rotation = t.transform.rotation + quat = [rotation.x, rotation.y, rotation.z, rotation.w] + roll, pitch, yaw = tf.transformations.euler_from_quaternion(quat) + + roll -= math.pi/2.0 + yaw -= math.pi/2.0 + + quat = tf.transformations.quaternion_from_euler(roll, pitch, yaw) + + t.transform.rotation.x = quat[0] + t.transform.rotation.y = quat[1] + t.transform.rotation.z = quat[2] + t.transform.rotation.w = quat[3] + + self.tf_to_publish.append(t) + + def compute_lidar_transform(self, name, sensor_data): + parent_frame_id = "base_link" + child_frame_id = name + + t = TransformStamped() + t.header.stamp = self.cur_time + t.header.frame_id = parent_frame_id + t.child_frame_id = child_frame_id + t.transform = carla_transform_to_ros_transform(self.sensors[name].get_transform()) + + self.tf_to_publish.append(t) + + + def add_camera_sensor(self, name, params): + """ + + :param name: + :param params: + :return: + """ + # The default camera captures RGB images of the scene. + cam = Camera(name, **params) + + self.carla_settings.add_sensor(cam) + self.sensors[name] = cam # we also add the sensor to our lookup + topic_image = name + '/image_raw' + topic_camera = name + '/camera_info' + self.publishers[topic_image] = rospy.Publisher(topic_image, RosImage, queue_size=10) + self.publishers[topic_camera] = rospy.Publisher(topic_camera, CameraInfo, queue_size=10) + + # computing camera info, when publishing update the stamp + camera_info = CameraInfo() + camera_info.header.frame_id = name + camera_info.width = cam.ImageSizeX + camera_info.height = cam.ImageSizeY + camera_info.distortion_model = 'plumb_bob' + cx = cam.ImageSizeX / 2.0 + cy = cam.ImageSizeY / 2.0 + fx = cam.ImageSizeX / (2.0 * math.tan(cam.FOV * math.pi / 360.0)) + fy = fx + + camera_info.K = [fx, 0, cx, + 0, fy, cy, + 0, 0, 1] + + camera_info.D = [0, 0, 0, 0, 0] + + camera_info.R = [1.0, 0, 0, + 0, 1.0, 0, + 0, 0, 1.0] + + camera_info.P = [fx, 0, cx, 0, + 0, fy, cy, 0, + 0, 0, 1.0, 0] + + self._camera_infos[name] = camera_info + + + def add_lidar_sensor(self, name, params): + """ + + :param name: + :param params: + :return: + """ + lidar = Lidar(name, **params) + self.carla_settings.add_sensor(lidar) + self.sensors[name] = lidar # we also add the sensor to our lookup + self.publishers[name] = rospy.Publisher(name, PointCloud2, queue_size=10) + + def __enter__(self): + return self + + def __exit__(self, exc_type, exc_val, exc_tb): + rospy.loginfo("Exiting Bridge") + return None + + +class CarlaRosBridgeWithBag(CarlaRosBridge): + def __init__(self, *args, **kwargs): + super(CarlaRosBridgeWithBag, self).__init__(*args, **kwargs) + timestr = time.strftime("%Y%m%d-%H%M%S") + self.bag = rosbag.Bag('/tmp/output_{}.bag'.format(timestr), mode='w') + + def send_msgs(self): + for name, msg in self.message_to_publish: + self.bag.write(name, msg, self.cur_time) + + super(CarlaRosBridgeWithBag, self).send_msgs() + + def __enter__(self): + return self + + def __exit__(self, exc_type, exc_value, traceback): + rospy.loginfo("Closing the bag file") + self.bag.close() + super(CarlaRosBridgeWithBag, self).__exit__(exc_type, exc_value, traceback) + + + +def main(): + rospy.init_node("carla_client", anonymous=True) + + + params = rospy.get_param('carla') + host = params['host'] + port = params['port'] + + rospy.loginfo("Trying to connect to {host}:{port}".format(host=host, port=port)) + + with make_carla_client(host, port) as client: + rospy.loginfo("Connection is ok") + + bridge_cls = CarlaRosBridgeWithBag if rospy.get_param('enable_rosbag') else CarlaRosBridge + with bridge_cls(client=client, params=params) as carla_ros_bridge: + carla_ros_bridge.run() + + +if __name__ == "__main__": + main() + + + From 19dea38409dd57a87b32196d389b12fb17a8f79f Mon Sep 17 00:00:00 2001 From: Laurent George Date: Fri, 30 Mar 2018 17:34:37 +0200 Subject: [PATCH 02/11] fix box extent on last master --- carla_ros_bridge/src/client.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/carla_ros_bridge/src/client.py b/carla_ros_bridge/src/client.py index cd7ab77b6..9ccb3985e 100755 --- a/carla_ros_bridge/src/client.py +++ b/carla_ros_bridge/src/client.py @@ -100,7 +100,7 @@ def update_marker_pose(object, base_marker): base_marker.scale.x = object.box_extent.x * 2.0 base_marker.scale.y = object.box_extent.y * 2.0 - base_marker.scale.z = object.box_extent.z * 2.0 * 2.0 # <-- carla seems to report only half of the bounding box on thix axis + base_marker.scale.z = object.box_extent.z * 2.0 base_marker.type = Marker.CUBE From 3da1c841426f1d2c568026bba9538b0cccb686f1 Mon Sep 17 00:00:00 2001 From: Laurent George Date: Tue, 3 Apr 2018 10:53:32 +0200 Subject: [PATCH 03/11] update readme --- carla_ros_bridge/Readme.md | 30 +++++++++++++++++++++--------- 1 file changed, 21 insertions(+), 9 deletions(-) diff --git a/carla_ros_bridge/Readme.md b/carla_ros_bridge/Readme.md index c30c65efb..5b5111b40 100644 --- a/carla_ros_bridge/Readme.md +++ b/carla_ros_bridge/Readme.md @@ -26,17 +26,28 @@ This ros package aims at providing a simple ros bridge for carla simulator. # Setup -Create a catkin workspace and install carla_ros_bridge package +## Clone the carla ros bridge branch - mdkir -p ~/catkin_ws/src - ln -s path_to_carla_ros_bridge ~/catkin_ws/src/ - source /opt/ros/lunar/setup.bash # if you use kinetic source /opt/ros/kinetic/setup.bash - cd ~/catkin_ws ; catkin_make - source ~/catkin_ws/devel/setup.bash - -Then install dependencies using rosdep (you can also use apt-get) + git clone -b dev/add_ros_bridge https://github.com/laurent-george/carla.git +## Install carla python client in your workspace + + cd carla/PythonClient + pip install -e . --user --upgrade + + now in a python2.7 terminal you should be able to do + + import carla + +## Create a catkin workspace and install carla_ros_bridge package + + source /opt/ros/kinetic/setup.bash + mkdir -p ~/catkin_ws/src + ln -s ~/carla/carla_ros_bridge/ ~/catkin_ws/src/ + cd ~/catkin_ws + catkin_make rosdep install --from-paths ~/catkin_ws/ + catkin_make # Start the ros bridge @@ -47,7 +58,8 @@ First run the simulator (see carla documentation) Then start the ros bridge: - roslaunch carla_ros_client client.launch + source ~/catkin_ws/devel/setup.bash + roslaunch carla_ros_bridge client.launch To start the ros bridge with rviz use: From 2f86acc3752d927d1760b17835d06e42dcb84d88 Mon Sep 17 00:00:00 2001 From: Laurent George Date: Thu, 12 Apr 2018 18:42:14 +0200 Subject: [PATCH 04/11] fix readme --- carla_ros_bridge/Readme.md | 2 +- carla_ros_bridge/config/settings.yaml | 85 ++++++++++++--------------- 2 files changed, 37 insertions(+), 50 deletions(-) diff --git a/carla_ros_bridge/Readme.md b/carla_ros_bridge/Readme.md index 5b5111b40..41dbcf8c7 100644 --- a/carla_ros_bridge/Readme.md +++ b/carla_ros_bridge/Readme.md @@ -63,7 +63,7 @@ Then start the ros bridge: To start the ros bridge with rviz use: - roslaunch carla_ros_client client_with_rviz.launch + roslaunch carla_ros_bridge client_with_rviz.launch You can setup the wanted camera/sensors in config/settings.yaml. diff --git a/carla_ros_bridge/config/settings.yaml b/carla_ros_bridge/config/settings.yaml index 4aacfebfb..b6f91a267 100644 --- a/carla_ros_bridge/config/settings.yaml +++ b/carla_ros_bridge/config/settings.yaml @@ -2,7 +2,7 @@ carla: host: localhost port: 2000 - QualityLevel: Low # Low or Epic + QualityLevel: Epic # Low or Epic SynchronousMode: True sensors: @@ -10,57 +10,44 @@ carla: SensorType: CAMERA carla_settings: PostProcessing: SceneFinal - ImageSizeX: 800 - ImageSizeY: 600 + ImageSizeX: 320 + ImageSizeY: 240 FOV: 90 - PositionX: 0.00 - PositionY: 0 - PositionZ: 1.00 - RotationPitch: 0 - RotationRoll: 0 - RotationYaw: 0 - - camera_depth: - SensorType: CAMERA - carla_settings: - PostProcessing: Depth - ImageSizeX: 800 - ImageSizeY: 600 - FOV: 90 - PositionX: 0.00 - PositionY: 0 - PositionZ: 1.00 - RotationPitch: 0 - RotationRoll: 0 - RotationYaw: 0 - - camera_semantic_segmentation: - SensorType: CAMERA - carla_settings: - PostProcessing: SemanticSegmentation - ImageSizeX: 800 - ImageSizeY: 600 - FOV: 90 - PositionX: 0.00 + PositionX: 1.80 PositionY: 0 PositionZ: 1.30 RotationPitch: 0 RotationRoll: 0 RotationYaw: 0 - - - lidar_0: - SensorType: LIDAR_RAY_CAST - carla_settings: - Channels: 4 - Range: 120 - PointsPerSecond: 200000 - RotationFrequency: 25 - UpperFovLimit: 1.6 - LowerFovLimit: -1.6 - PositionX: 0.0 - PositionY: 0 - PositionZ: 1.50 - RotationPitch: 0 - RotationYaw: 0 - RotationRoll: 0 +# +# camera_depth: +# SensorType: CAMERA +# carla_settings: +# PostProcessing: Depth +# ImageSizeX: 800 +# ImageSizeY: 600 +# FOV: 90 +# PositionX: 1.80 +# PositionY: 0 +# PositionZ: 1.30 +# RotationPitch: 0 +# RotationRoll: 0 +# RotationYaw: 0 +# +# +# +# lidar_0: +# SensorType: LIDAR_RAY_CAST +# carla_settings: +# Channels: 4 +# Range: 120 +# PointsPerSecond: 200000 +# RotationFrequency: 25 +# UpperFovLimit: 1.6 +# LowerFovLimit: -1.6 +# PositionX: 0.0 +# PositionY: 0 +# PositionZ: 1.50 +# RotationPitch: 0 +# RotationYaw: 0 +# RotationRoll: 0 From e09c3490ac1b2dece910e448f9ef682f1bb78183 Mon Sep 17 00:00:00 2001 From: Laurent George Date: Fri, 1 Jun 2018 14:17:39 +0200 Subject: [PATCH 05/11] Refactor code based on code review - Update documentation - Separate ros bridge into multiple/small files - Add a test (rostest test/ros_bridge_client.test) - Add docstrings - Refactor --- carla_ros_bridge/CMakeLists.txt | 13 +- carla_ros_bridge/Readme.md | 94 ++- carla_ros_bridge/client_with_rviz.launch | 2 +- ...t_rviz.cfg => carla_default_rviz.cfg.rviz} | 139 +++-- carla_ros_bridge/config/settings.yaml | 41 +- carla_ros_bridge/setup.py | 10 + .../src/carla_ros_bridge/__init__.py | 0 .../src/carla_ros_bridge/bridge.py | 173 ++++++ .../carla_ros_bridge/bridge_with_rosbag.py | 35 ++ .../src/carla_ros_bridge/client.py | 34 ++ .../src/carla_ros_bridge/control.py | 68 +++ .../src/carla_ros_bridge/markers.py | 154 +++++ .../src/carla_ros_bridge/sensors.py | 201 +++++++ .../src/carla_ros_bridge/transforms.py | 79 +++ carla_ros_bridge/src/client.py | 556 ------------------ carla_ros_bridge/test/ros_bridge_client.py | 16 + carla_ros_bridge/test/ros_bridge_client.test | 38 ++ 17 files changed, 985 insertions(+), 668 deletions(-) rename carla_ros_bridge/config/{carla_default_rviz.cfg => carla_default_rviz.cfg.rviz} (70%) create mode 100644 carla_ros_bridge/setup.py create mode 100644 carla_ros_bridge/src/carla_ros_bridge/__init__.py create mode 100644 carla_ros_bridge/src/carla_ros_bridge/bridge.py create mode 100644 carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py create mode 100755 carla_ros_bridge/src/carla_ros_bridge/client.py create mode 100644 carla_ros_bridge/src/carla_ros_bridge/control.py create mode 100644 carla_ros_bridge/src/carla_ros_bridge/markers.py create mode 100644 carla_ros_bridge/src/carla_ros_bridge/sensors.py create mode 100644 carla_ros_bridge/src/carla_ros_bridge/transforms.py delete mode 100755 carla_ros_bridge/src/client.py create mode 100644 carla_ros_bridge/test/ros_bridge_client.py create mode 100644 carla_ros_bridge/test/ros_bridge_client.test diff --git a/carla_ros_bridge/CMakeLists.txt b/carla_ros_bridge/CMakeLists.txt index 61a37199e..3cca17ec7 100644 --- a/carla_ros_bridge/CMakeLists.txt +++ b/carla_ros_bridge/CMakeLists.txt @@ -20,7 +20,7 @@ find_package(catkin REQUIRED COMPONENTS ## Uncomment this if the package has a setup.py. This macro ensures ## modules and global scripts declared therein get installed ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() +catkin_python_setup() ################################################ ## Declare ROS messages, services and actions ## @@ -179,11 +179,12 @@ include_directories( # ) ## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) + install(FILES + client.launch + client_with_rviz.launch + test/ros_bridge_client.test + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + ) ############# ## Testing ## diff --git a/carla_ros_bridge/Readme.md b/carla_ros_bridge/Readme.md index 41dbcf8c7..41d58629a 100644 --- a/carla_ros_bridge/Readme.md +++ b/carla_ros_bridge/Readme.md @@ -9,7 +9,7 @@ This ros package aims at providing a simple ros bridge for carla simulator. ![short video](https://youtu.be/S_NoN2GBtdY) -# Features/Roadmap/TODO +# Features - [x] Cameras (depth, segmentation, rgb) support - [x] Add camera matrix @@ -20,41 +20,87 @@ This ros package aims at providing a simple ros bridge for carla simulator. - [x] Rosbag in the bridge (in order to avoid rosbag recoard -a small time errors) - [x] Handle ros dependencies - [x] Marker/bounding box messages for cars/pedestrian -- [ ] Better looking color map for segmentation +- [ ] Add traffic light support - [ ] Support dynamic change (restarting simulation using a topic/rosparam) # Setup -## Clone the carla ros bridge branch +## Create a catkin workspace and install carla_ros_bridge package - git clone -b dev/add_ros_bridge https://github.com/laurent-george/carla.git +### Create the catkin workspace: + + mkdir -p ~/ros/catkin_ws_for_carla/src + cd ~/ros/catkin_ws_for_carla + source /opt/ros/kinetic/setup.bash + catkin_make + source ~/ros/catkin_ws_for_carla/devel/setup.bash + +For more information about configuring a ros environment see +http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment ## Install carla python client in your workspace cd carla/PythonClient pip install -e . --user --upgrade - - now in a python2.7 terminal you should be able to do - - import carla - -## Create a catkin workspace and install carla_ros_bridge package - - source /opt/ros/kinetic/setup.bash - mkdir -p ~/catkin_ws/src - ln -s ~/carla/carla_ros_bridge/ ~/catkin_ws/src/ - cd ~/catkin_ws - catkin_make - rosdep install --from-paths ~/catkin_ws/ - catkin_make +Check the installation is successfull by trying to import carla from python: + + python -c 'import carla;print("Success")' + +You should see the Success message without any errors. + +### Install recent protobuf version [optional] + + sudo apt-get remove python-protobuf + sudo pip install --upgrade protobuf + + +### Add the carla_ros_bridge in the catkin workspace + +Run the following command after replacing [PATH_TO_CARLA] with the actual path to carla directory on your machine: + + ln -s [PATH_TO_CARLA]/carla_ros_bridge/ ~/ros/catkin_ws_for_carla/src/ + source ~/ros/catkin_ws_for_carla/devel/setup.bash + rosdep update + rosdep install --from-paths ~/ros/catkin_ws_for_carla + catkin_make ~/ros/catkin_ws_for_carla + + +### Test your installation + +If you use the builded binary (0.8.2): + + ./CarlaUE4 -carla-server -windowed -ResX=320 -ResY=240 + + +Wait for the message: + + Waiting for the client to connect... + +Then run the tests + + rostest carla_ros_bridge test/ros_bridge_client.test + +you should see: + + [carla_ros_bridge.rosunit-testTopics/test_publish][passed] + + SUMMARY + * RESULT: SUCCESS + + # Start the ros bridge -First run the simulator (see carla documentation) +First run the simulator (see carla documentation: http://carla.readthedocs.io/en/latest/) - ./CarlaUE4.sh /Game/Maps/Town01 -carla-server -benchmark -fps=15 -windowed -ResX=320 -ResY=240 + ./CarlaUE4 -carla-server -windowed -ResX=320 -ResY=240 + + +Wait for the message: + + Waiting for the client to connect... Then start the ros bridge: @@ -84,13 +130,13 @@ Then you can send command to the car using the /ackermann_cmd topic. Example of forward movements, speed in in meters/sec. - rostopic pub /cmd_vel ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, + rostopic pub /ackerman_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, jerk: 0.0}" -r 10 Example of forward with steering - rostopic pub /cmd_vel ackermann_msgs/AckermannDrive "{steering_angle: 5.41, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, + rostopic pub /ackerman_cmd ackermann_msgs/AckermannDrive "{steering_angle: 5.41, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, jerk: 0.0}" -r 10 Warning: the steering_angle is the driving angle (in radians) not the wheel angle, for now max wheel is set to 500 degrees. @@ -98,5 +144,7 @@ Example of forward with steering Example for backward : - rostopic pub /cmd_vel ackermann_msgs/AckermannDrive "{steering_angle: 0, steering_angle_velocity: 0.0, speed: -10, acceleration: 0.0, + rostopic pub /ackerman_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0, steering_angle_velocity: 0.0, speed: -10, acceleration: 0.0, jerk: 0.0}" -r 10 + + diff --git a/carla_ros_bridge/client_with_rviz.launch b/carla_ros_bridge/client_with_rviz.launch index 16160d90e..a4e47815c 100644 --- a/carla_ros_bridge/client_with_rviz.launch +++ b/carla_ros_bridge/client_with_rviz.launch @@ -1,5 +1,5 @@ - + diff --git a/carla_ros_bridge/config/carla_default_rviz.cfg b/carla_ros_bridge/config/carla_default_rviz.cfg.rviz similarity index 70% rename from carla_ros_bridge/config/carla_default_rviz.cfg rename to carla_ros_bridge/config/carla_default_rviz.cfg.rviz index 30d63c909..bc76d9903 100644 --- a/carla_ros_bridge/config/carla_default_rviz.cfg +++ b/carla_ros_bridge/config/carla_default_rviz.cfg.rviz @@ -34,10 +34,10 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /Grid1 + - /non_player_vehicles1 - /DepthCloud1/Auto Size1 - Splitter Ratio: 0.496614009141922 - Tree Height: 191 + Splitter Ratio: 0.4943566620349884 + Tree Height: 170 Visualization Manager: Class: "" Displays: @@ -57,11 +57,11 @@ Visualization Manager: Z: 0 Plane: XY Plane Cell Count: 1000 - Reference Frame: + Reference Frame: map Value: true - Class: rviz/Image Enabled: true - Image Topic: /CameraRGB/image_raw + Image Topic: /camera_front/image_raw Max Value: 1 Median window: 5 Min Value: 0 @@ -83,50 +83,12 @@ Visualization Manager: Transport Hint: raw Unreliable: false Value: true - - Alpha: 1 - Auto Size: - Auto Size Factor: 1 - Value: true - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/DepthCloud - Color: 255; 255; 255 - Color Image Topic: /CameraRGB/image_raw - Color Transformer: RGB8 - Color Transport Hint: raw - Decay Time: 0 - Depth Map Topic: /camera_depth/image_raw - Depth Map Transport Hint: raw - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: DepthCloud - Occlusion Compensation: - Occlusion Time-Out: 30 - Value: false - Position Transformer: XYZ - Queue Size: 5 - Selectable: true - Size (Pixels): 3 - Style: Flat Squares - Topic Filter: true - Use Fixed Frame: true - Use rainbow: true - Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /vehicles Name: non_player_vehicles Namespaces: - "": true + {} Queue Size: 100 Value: true - Class: rviz/Marker @@ -149,7 +111,7 @@ Visualization Manager: Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 - Enabled: true + Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 @@ -166,12 +128,50 @@ Visualization Manager: Unreliable: false Use Fixed Frame: true Use rainbow: true + Value: false + - Alpha: 1 + Auto Size: + Auto Size Factor: 1 + Value: true + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/DepthCloud + Color: 255; 255; 255 + Color Image Topic: /camera_front/image_raw + Color Transformer: RGB8 + Color Transport Hint: raw + Decay Time: 0 + Depth Map Topic: /camera_depth/image_raw + Depth Map Transport Hint: raw + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: DepthCloud + Occlusion Compensation: + Occlusion Time-Out: 30 + Value: false + Position Transformer: XYZ + Queue Size: 5 + Selectable: true + Size (Pixels): 3 + Style: Flat Squares + Topic Filter: false + Use Fixed Frame: true + Use rainbow: true Value: true Enabled: true Global Options: Background Color: 48; 48; 48 Default Light: true - Fixed Frame: base_link + Fixed Frame: map Frame Rate: 30 Name: root Tools: @@ -191,35 +191,52 @@ Visualization Manager: Value: true Views: Current: - Class: rviz/Orbit - Distance: 20.504690170288086 + Class: rviz/ThirdPersonFollower + Distance: 31.861072540283203 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0 - Y: 0 - Z: 0 + X: 6.999748229980469 + Y: 0.7988636493682861 + Z: 2.896774276450742e-6 Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.37039822340011597 - Target Frame: - Value: Orbit (rviz) - Yaw: 3.0753960609436035 - Saved: ~ + Pitch: 0.18520352244377136 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.5035617351531982 + Saved: + - Class: rviz/FPS + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: FPS + Near Clip Distance: 0.009999999776482582 + Pitch: 0.984796941280365 + Position: + X: 48.14033508300781 + Y: -258.651123046875 + Z: 284.4742431640625 + Target Frame: base_link + Value: FPS (rviz) + Yaw: 1.521981120109558 Window Geometry: - "&Depth": + "&Displays": collapsed: false - "&Time": + "&Tool Properties": collapsed: false "&Views": collapsed: false - D&isplays: + Depth: collapsed: false Displays: collapsed: false @@ -228,10 +245,10 @@ Window Geometry: Height: 994 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false - Tool Properties: + T&ime: collapsed: false Width: 1680 X: 0 diff --git a/carla_ros_bridge/config/settings.yaml b/carla_ros_bridge/config/settings.yaml index b6f91a267..466ae33bb 100644 --- a/carla_ros_bridge/config/settings.yaml +++ b/carla_ros_bridge/config/settings.yaml @@ -1,12 +1,12 @@ -# carla original variable name is used unchanged here (i.e CamelCase, etc) carla: host: localhost port: 2000 - QualityLevel: Epic # Low or Epic + QualityLevel: Low # Low or Epic SynchronousMode: True + SendNonPlayerAgentsInfo: True sensors: - CameraRGB: + camera_front: SensorType: CAMERA carla_settings: PostProcessing: SceneFinal @@ -19,23 +19,22 @@ carla: RotationPitch: 0 RotationRoll: 0 RotationYaw: 0 -# -# camera_depth: -# SensorType: CAMERA -# carla_settings: -# PostProcessing: Depth -# ImageSizeX: 800 -# ImageSizeY: 600 -# FOV: 90 -# PositionX: 1.80 -# PositionY: 0 -# PositionZ: 1.30 -# RotationPitch: 0 -# RotationRoll: 0 -# RotationYaw: 0 -# -# -# + + camera_depth: + SensorType: CAMERA + carla_settings: + PostProcessing: Depth + ImageSizeX: 320 + ImageSizeY: 240 + FOV: 90 + PositionX: 1.80 + PositionY: 0 + PositionZ: 1.30 + RotationPitch: 0 + RotationRoll: 0 + RotationYaw: 0 + +# Uncomment the following lines if you want to enable lidar publication # lidar_0: # SensorType: LIDAR_RAY_CAST # carla_settings: @@ -44,7 +43,7 @@ carla: # PointsPerSecond: 200000 # RotationFrequency: 25 # UpperFovLimit: 1.6 -# LowerFovLimit: -1.6 +# LowerFovLimit: -1.6 # PositionX: 0.0 # PositionY: 0 # PositionZ: 1.50 diff --git a/carla_ros_bridge/setup.py b/carla_ros_bridge/setup.py new file mode 100644 index 000000000..a1e5f51fb --- /dev/null +++ b/carla_ros_bridge/setup.py @@ -0,0 +1,10 @@ +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['carla_ros_bridge'], + package_dir={'': 'src'} +) + +setup(**d) + diff --git a/carla_ros_bridge/src/carla_ros_bridge/__init__.py b/carla_ros_bridge/src/carla_ros_bridge/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge.py b/carla_ros_bridge/src/carla_ros_bridge/bridge.py new file mode 100644 index 000000000..01fc8d3bd --- /dev/null +++ b/carla_ros_bridge/src/carla_ros_bridge/bridge.py @@ -0,0 +1,173 @@ +""" +Rosbridge class: + +Class that handle communication between CARLA and ROS +""" +import random + +from rosgraph_msgs.msg import Clock +from tf2_msgs.msg import TFMessage +import rospy + +from carla.settings import CarlaSettings +from carla_ros_bridge.control import InputController +from carla_ros_bridge.markers import PlayerAgentHandler, NonPlayerAgentsHandler +from carla_ros_bridge.sensors import CameraHandler, LidarHandler + + +class CarlaRosBridge(object): + """ + Carla Ros bridge + """ + + def __init__(self, client, params): + """ + + :param params: dict of parameters, see settings.yaml + :param rate: rate to query data from carla in Hz + """ + self.setup_carla_client(client=client, params=params) + + self.tf_to_publish = [] + self.msgs_to_publish = [] + self.publishers = {} + + # definitions useful for time + self.cur_time = rospy.Time.from_sec( + 0) # at the beginning of simulation + self.carla_game_stamp = 0 + self.carla_platform_stamp = 0 + + # creating handler to handle vehicles messages + self.player_handler = PlayerAgentHandler( + "player_vehicle", process_msg_fun=self.process_msg) + self.non_players_handler = NonPlayerAgentsHandler( + "vehicles", process_msg_fun=self.process_msg) + + # creating handler for sensors + self.sensors = {} + for name, _ in self.param_sensors.items(): + self.add_sensor(name) + + # creating input controller listener + self.input_controller = InputController() + + def setup_carla_client(self, client, params): + self.client = client + self.param_sensors = params.get('sensors', {}) + self.carla_settings = CarlaSettings() + self.carla_settings.set( + SendNonPlayerAgentsInfo=True, + NumberOfVehicles=20, + NumberOfPedestrians=40, + WeatherId=random.choice([1, 3, 7, 8, 14]), + SynchronousMode=params['SynchronousMode'], + QualityLevel=params['QualityLevel']) + self.carla_settings.randomize_seeds() + + def add_sensor(self, name): + rospy.loginfo("Adding sensor {}".format(name)) + sensor_type = self.param_sensors[name]['SensorType'] + params = self.param_sensors[name]['carla_settings'] + sensor_handler = None + if sensor_type == 'LIDAR_RAY_CAST': + sensor_handler = LidarHandler + if sensor_type == 'CAMERA': + sensor_handler = CameraHandler + if sensor_handler: + self.sensors[name] = sensor_handler( + name, + params, + carla_settings=self.carla_settings, + process_msg_fun=self.process_msg) + else: + rospy.logerr( + "Unable to handle sensor {name} of type {sensor_type}".format( + sensor_type=sensor_type, name=name)) + + def on_shutdown(self): + rospy.loginfo("Shutdown requested") + + def process_msg(self, topic=None, msg=None): + """ + Function used to process message + + Here we create publisher if not yet created + Store the message in a list (waiting for their publication) with their associated publisher + + Messages for /tf topics are handle differently in order to publish all transform in the same message + :param topic: topic to publish the message on + :param msg: ros message + """ + if topic not in self.publishers: + if topic == 'tf': + self.publishers[topic] = rospy.Publisher( + topic, TFMessage, queue_size=100) + else: + self.publishers[topic] = rospy.Publisher( + topic, type(msg), queue_size=10) + + if topic == 'tf': + # transform are merged in same message + self.tf_to_publish.append(msg) + else: + self.msgs_to_publish.append((self.publishers[topic], msg)) + + def send_msgs(self): + for publisher, msg in self.msgs_to_publish: + publisher.publish(msg) + self.msgs_to_publish = [] + + tf_msg = TFMessage(self.tf_to_publish) + self.publishers['tf'].publish(tf_msg) + self.tf_to_publish = [] + + def compute_cur_time_msg(self): + self.process_msg('clock', Clock(self.cur_time)) + + def run(self): + self.publishers['clock'] = rospy.Publisher( + "clock", Clock, queue_size=10) + + # load settings into the server + scene = self.client.load_settings(self.carla_settings) + # Choose one player start at random. + number_of_player_starts = len(scene.player_start_spots) + player_start = random.randint(0, max(0, number_of_player_starts - 1)) + + self.client.start_episode(player_start) + while not (rospy.is_shutdown()): + measurements, sensor_data = self.client.read_data() + + # handle time + self.carla_game_stamp = measurements.game_timestamp + self.cur_time = rospy.Time.from_sec(self.carla_game_stamp * 1000.0) + self.compute_cur_time_msg() + + # handle agents + self.player_handler.process_msg( + measurements.player_measurements, cur_time=self.cur_time) + self.non_players_handler.process_msg( + measurements.non_player_agents, cur_time=self.cur_time) + + # handle sensors + for name, data in sensor_data.items(): + self.sensors[name].process_sensor_data(data, self.cur_time) + + # publish all messages + self.send_msgs() + + # handle control + if rospy.get_param('carla_autopilot', True): + control = measurements.player_measurements.autopilot_control + self.client.send_control(control) + else: + control = self.input_controller.cur_control + self.client.send_control(**control) + + def __enter__(self): + return self + + def __exit__(self, exc_type, exc_val, exc_tb): + rospy.loginfo("Exiting Bridge") + return None diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py b/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py new file mode 100644 index 000000000..1fdc2220f --- /dev/null +++ b/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py @@ -0,0 +1,35 @@ +""" +RosBridge class with rosbag support +""" + +import time + +from tf2_msgs.msg import TFMessage +import rosbag +import rospy + +from carla_ros_bridge.bridge import CarlaRosBridge + + +class CarlaRosBridgeWithBag(CarlaRosBridge): + def __init__(self, *args, **kwargs): + super(CarlaRosBridgeWithBag, self).__init__(*args, **kwargs) + timestr = time.strftime("%Y%m%d-%H%M%S") + self.bag = rosbag.Bag('/tmp/output_{}.bag'.format(timestr), mode='w') + + def send_msgs(self): + for name, msg in self.message_to_publish: + self.bag.write(name, msg, self.cur_time) + + tf_msg = TFMessage(self.tf_to_publish) + self.bag.write('tf', tf_msg, self.cur_time) + super(CarlaRosBridgeWithBag, self).send_msgs() + + def __enter__(self): + return self + + def __exit__(self, exc_type, exc_value, traceback): + rospy.loginfo("Closing the bag file") + self.bag.close() + super(CarlaRosBridgeWithBag, self).__exit__(exc_type, exc_value, + traceback) diff --git a/carla_ros_bridge/src/carla_ros_bridge/client.py b/carla_ros_bridge/src/carla_ros_bridge/client.py new file mode 100755 index 000000000..124355b32 --- /dev/null +++ b/carla_ros_bridge/src/carla_ros_bridge/client.py @@ -0,0 +1,34 @@ +#!/usr/bin/env python +""" +Ros Bridge node for carla simulator +""" + +import rospy + +from carla.client import make_carla_client +from carla_ros_bridge.bridge import CarlaRosBridge +from carla_ros_bridge.bridge_with_rosbag import CarlaRosBridgeWithBag + + +def main(): + rospy.init_node("carla_client", anonymous=True) + + params = rospy.get_param('carla') + host = params['host'] + port = params['port'] + + rospy.loginfo("Trying to connect to {host}:{port}".format( + host=host, port=port)) + + with make_carla_client(host, port) as client: + rospy.loginfo("Connected") + + bridge_cls = CarlaRosBridgeWithBag if rospy.get_param( + 'enable_rosbag') else CarlaRosBridge + with bridge_cls(client=client, params=params) as carla_ros_bridge: + rospy.on_shutdown(carla_ros_bridge.on_shutdown) + carla_ros_bridge.run() + + +if __name__ == "__main__": + main() diff --git a/carla_ros_bridge/src/carla_ros_bridge/control.py b/carla_ros_bridge/src/carla_ros_bridge/control.py new file mode 100644 index 000000000..5b7b0581f --- /dev/null +++ b/carla_ros_bridge/src/carla_ros_bridge/control.py @@ -0,0 +1,68 @@ +""" +Class to handle control input +""" + +import math +import numpy as np +import rospy + +from ackermann_msgs.msg import AckermannDrive + + +class InputController(object): + """ + Class to handle ros input command + + Each time a ros control msg (an ackermann_cmd msg) is received on control topic, a carla control message is + computed. + """ + + def __init__(self, topic_name='/ackermann_cmd'): + # current control command + self.cur_control = { + 'steer': 0.0, + 'throttle': 0.0, + 'brake': 0.0, + 'hand_brake': False, + 'reverse': False + } + + self.cmd_vel_subscriber = rospy.Subscriber( + '/ackermann_cmd', AckermannDrive, self.set_control_cmd_callback) + + def set_control_cmd_callback(self, data): + """ + Convert a Ackerman drive msg into carla control msg + + Right now the control is really simple and don't enforce acceleration and jerk command, nor the steering acceleration too + :param data: AckermannDrive msg + :return: + """ + steering_angle_ctrl = data.steering_angle + speed_ctrl = data.speed + + max_steering_angle = math.radians( + 500 + ) # 500 degrees is the max steering angle that I have on my car, + # would be nice if we could use the value provided by carla + max_speed = 27 # just a value for me, 27 m/sec seems to be a reasonable max speed for now + + control = {} + + if abs(steering_angle_ctrl) > max_steering_angle: + rospy.logerr("Max steering angle reached, clipping value") + steering_angle_ctrl = np.clip( + steering_angle_ctrl, -max_steering_angle, max_steering_angle) + + if abs(speed_ctrl) > max_speed: + rospy.logerr("Max speed reached, clipping value") + speed_ctrl = np.clip(speed_ctrl, -max_speed, max_speed) + + if speed_ctrl == 0: + control['brake'] = True + + control['steer'] = steering_angle_ctrl / max_steering_angle + control['throttle'] = abs(speed_ctrl / max_speed) + control['reverse'] = True if speed_ctrl < 0 else False + + self.cur_control = control diff --git a/carla_ros_bridge/src/carla_ros_bridge/markers.py b/carla_ros_bridge/src/carla_ros_bridge/markers.py new file mode 100644 index 000000000..324a09909 --- /dev/null +++ b/carla_ros_bridge/src/carla_ros_bridge/markers.py @@ -0,0 +1,154 @@ +""" +Classes to handle Agent object (player and non-player) +""" + +from geometry_msgs.msg import TransformStamped +from std_msgs.msg import Header +from visualization_msgs.msg import MarkerArray, Marker + +from carla.sensor import Transform as carla_Transform +from carla_ros_bridge.transforms import carla_transform_to_ros_transform, ros_transform_to_pose + + +class AgentObjectHandler(object): + """ + Generic class to convert carla agent information to ros messages + In ros messages are represented as Marker message (thus they are viewable in Rviz). + """ + + def __init__(self, name, process_msg_fun=None, world_link='map'): + self.name = name + self.world_link = world_link + self.process_msg_fun = process_msg_fun + self.lookup_table_marker_id = {} + + def process_msg(self, data, cur_time): + """ + + :param data: carla agent data + :param cur_time: current ros simulation time + :return: + """ + raise NotImplemented + + def get_marker_id(self, agent_id): + """ + Return a unique marker id for each agent + + ros marker id should be int32, carla/unrealengine seems to use int64 + A lookup table is used to remap agent_id to small number between 0 and max_int32 + + :param agent_id: + :return: + """ + if agent_id not in self.lookup_table_marker_id: + self.lookup_table_marker_id[agent_id] = len( + self.lookup_table_marker_id) + return self.lookup_table_marker_id[agent_id] + + +class PlayerAgentHandler(AgentObjectHandler): + """ + Convert player agent into ros message (as marker) + """ + + def __init__(self, name, **kwargs): + super(PlayerAgentHandler, self).__init__(name, **kwargs) + + def process_msg(self, data, cur_time): + t = TransformStamped() + t.header.stamp = cur_time + t.header.frame_id = self.world_link + t.child_frame_id = "base_link" + t.transform = carla_transform_to_ros_transform( + carla_Transform(data.transform)) + header = Header() + header.stamp = cur_time + header.frame_id = self.world_link + marker = get_vehicle_marker( + data, header=header, marker_id=0, is_player=True) + self.process_msg_fun(self.name, marker) + self.process_msg_fun('tf', t) + + +class NonPlayerAgentsHandler(AgentObjectHandler): + """ + Convert non-player agents into ros messages + """ + + def __init__(self, name, **kwargs): + super(NonPlayerAgentsHandler, self).__init__(name, **kwargs) + + def process_msg(self, data, cur_time): + """ + :param data: list of carla_server_pb2.Agent return by carla API, + with field 'id', 'vehicle', 'pedestrian', 'traffic_light', 'speed_limit_sign' + + :return: + """ + vehicles = [(self.get_marker_id(agent.id), agent.vehicle) + for agent in data if agent.HasField('vehicle')] + + header = Header(stamp=cur_time, frame_id=self.world_link) + if not (vehicles): + return + markers = [ + get_vehicle_marker(vehicle, header, agent_id) + for agent_id, vehicle in vehicles + ] + marker_array = MarkerArray(markers) + self.process_msg_fun('vehicles', marker_array) + + +def get_vehicle_marker(object, header, marker_id=0, is_player=False): + """ + Return a marker msg + + :param object: carla agent object (pb2 object (vehicle, pedestrian or traffic light)) + :param header: ros header (stamp/frame_id) + :param marker_id: a marker id (int32) + :param is_player: True if player else False (usefull to change marker color) + :return: a ros marker msg + """ + marker = Marker(header=header) + marker.color.a = 0.3 + if is_player: + marker.color.g = 1 + marker.color.r = 0 + marker.color.b = 0 + else: + marker.color.r = 1 + marker.color.g = 0 + marker.color.b = 0 + + marker.id = marker_id + marker.text = "id = {}".format(marker_id) + update_marker_pose(object, marker) + + if not is_player: # related to bug request #322 + marker.scale.x = marker.scale.x / 100.0 + marker.scale.y = marker.scale.y / 100.0 + marker.scale.z = marker.scale.z / 100.0 + + # the box pose seems to require a little bump to be well aligned with camera depth + marker.pose.position.z += marker.scale.z / 2.0 + + return marker + + +def update_marker_pose(object, base_marker): + """ + Update pose of a marker based on carla information + + :param object: pb2 carla object + :param base_marker: marker to update pose + """ + ros_transform = carla_transform_to_ros_transform( + carla_Transform(object.transform)) + base_marker.pose = ros_transform_to_pose(ros_transform) + + base_marker.scale.x = object.bounding_box.extent.x * 2.0 + base_marker.scale.y = object.bounding_box.extent.y * 2.0 + base_marker.scale.z = object.bounding_box.extent.z * 2.0 + + base_marker.type = Marker.CUBE diff --git a/carla_ros_bridge/src/carla_ros_bridge/sensors.py b/carla_ros_bridge/src/carla_ros_bridge/sensors.py new file mode 100644 index 000000000..2fd37d759 --- /dev/null +++ b/carla_ros_bridge/src/carla_ros_bridge/sensors.py @@ -0,0 +1,201 @@ +""" +Classes to handle Carla sensors +""" +import math +import numpy as np +import tf + +from cv_bridge import CvBridge +from geometry_msgs.msg import TransformStamped +from sensor_msgs.msg import CameraInfo +from sensor_msgs.point_cloud2 import create_cloud_xyz32 +from std_msgs.msg import Header + +from carla.sensor import Camera, Lidar, Sensor +from carla_ros_bridge.transforms import carla_transform_to_ros_transform + +cv_bridge = CvBridge( +) # global cv bridge to convert image between opencv and ros + + +class SensorHandler(object): + """ + Generic Sensor Handler + + A sensor handler compute the associated ros message to a carla sensor data, and the transform asssociated to the + sensor. + These messages are passed to a *process_msg_fun* which will take care of publishing them. + """ + + def __init__(self, + name, + params=None, + carla_sensor_class=Sensor, + carla_settings=None, + process_msg_fun=None): + """ + :param name: sensor name + :param params: params used to set the sensor in carla + :param carla_sensor_class: type of sensor + :param carla_settings: carla_settings object + :param process_msg_fun: function to call on each new computed message + """ + self.process_msg_fun = process_msg_fun + self.carla_object = carla_sensor_class(name, **params) + carla_settings.add_sensor(self.carla_object) + self.name = name + + def process_sensor_data(self, data, cur_time): + """ + process a carla sensor data object + + Generate sensor message and transform message + + :param data: carla sensor data + :param cur_time: current ros simulation time + :return: + """ + self._compute_sensor_msg(data, cur_time) + self._compute_transform(data, cur_time) + + def _compute_sensor_msg(self, data, cur_time): + """ + Compute the ros msg associated to carla data + :param data: SensorData object + :param cur_time: current ros simulation time + """ + raise NotImplemented + + def _compute_transform(self, data, cur_time): + """ + Compute the tf msg associated to carla data + + :param data: SensorData object + :param cur_time: current ros simulation time + """ + raise NotImplemented + + +class LidarHandler(SensorHandler): + """ + Class to handle Lidar sensors + """ + + def __init__(self, name, params, **kwargs): + super(LidarHandler, self).__init__( + name, carla_sensor_class=Lidar, params=params, **kwargs) + + def _compute_sensor_msg(self, sensor_data, cur_time): + header = Header() + header.frame_id = self.name + header.stamp = cur_time + # we take the oposite of y axis (as lidar point are express in left handed coordinate system, and ros need right handed) + # we need a copy here, because the data are read only in carla numpy array + new_sensor_data = sensor_data.data.copy() + new_sensor_data = -new_sensor_data + # we also need to permute x and y + new_sensor_data = new_sensor_data[..., [1, 0, 2]] + point_cloud_msg = create_cloud_xyz32(header, new_sensor_data) + topic = self.name + self.process_msg_fun(topic, point_cloud_msg) + + def _compute_transform(self, sensor_data, cur_time): + parent_frame_id = "base_link" + child_frame_id = self.name + + t = TransformStamped() + t.header.stamp = self.cur_time + t.header.frame_id = parent_frame_id + t.child_frame_id = child_frame_id + t.transform = carla_transform_to_ros_transform( + self.carla_object.get_transform()) + + self.process_msg_fun('tf', t) + + +class CameraHandler(SensorHandler): + """ + Class to handle Camera sensors + """ + + def __init__(self, name, params, **kwargs): + super(CameraHandler, self).__init__( + name, carla_sensor_class=Camera, params=params, **kwargs) + + self.topic_image = '/'.join([name, 'image_raw']) + self.topic_cam_info = '/'.join([name, 'camera_info']) + self.build_camera_info() + + def build_camera_info(self): + """ + computing camera info + + camera info doesn't change over time + """ + camera_info = CameraInfo() + camera_info.header.frame_id = self.name + camera_info.width = self.carla_object.ImageSizeX + camera_info.height = self.carla_object.ImageSizeY + camera_info.distortion_model = 'plumb_bob' + cx = self.carla_object.ImageSizeX / 2.0 + cy = self.carla_object.ImageSizeY / 2.0 + fx = self.carla_object.ImageSizeX / ( + 2.0 * math.tan(self.carla_object.FOV * math.pi / 360.0)) + fy = fx + camera_info.K = [fx, 0, cx, 0, fy, cy, 0, 0, 1] + camera_info.D = [0, 0, 0, 0, 0] + camera_info.R = [1.0, 0, 0, 0, 1.0, 0, 0, 0, 1.0] + camera_info.P = [fx, 0, cx, 0, 0, fy, cy, 0, 0, 0, 1.0, 0] + self._camera_info = camera_info + + def _compute_sensor_msg(self, sensor_data, cur_time): + if sensor_data.type == 'Depth': + # ROS PEP 0118 : Depth images are published as sensor_msgs/Image encoded as 32-bit float. + # Each pixel is a depth (along the camera Z axis) in meters. + data = np.float32(sensor_data.data * 1000.0) # in carla 1.0 = 1km + encoding = 'passthrough' + elif sensor_data.type == 'SemanticSegmentation': + encoding = 'mono16' # for semantic segmentation we use mono16 in order to be able to limit range in rviz + data = np.uint16(sensor_data.data) + else: + encoding = 'rgb8' + data = sensor_data.data + img_msg = cv_bridge.cv2_to_imgmsg(data, encoding=encoding) + img_msg.header.frame_id = self.name + img_msg.header.stamp = cur_time + + cam_info = self._camera_info + cam_info.header = img_msg.header + + self.process_msg_fun(self.topic_cam_info, cam_info) + self.process_msg_fun(self.topic_image, img_msg) + + def _compute_transform(self, sensor_data, cur_time): + parent_frame_id = "base_link" + child_frame_id = self.name + + t = TransformStamped() + t.header.stamp = cur_time + t.header.frame_id = parent_frame_id + t.child_frame_id = child_frame_id + + # for camera we reorient it to look at the same axis as the opencv projection + # in order to get easy depth cloud for RGBD camera + t.transform = carla_transform_to_ros_transform( + self.carla_object.get_transform()) + + rotation = t.transform.rotation + quat = [rotation.x, rotation.y, rotation.z, rotation.w] + roll, pitch, yaw = tf.transformations.euler_from_quaternion(quat) + + roll -= math.pi / 2.0 + yaw -= math.pi / 2.0 + + quat = tf.transformations.quaternion_from_euler(roll, pitch, yaw) + + t.transform.rotation.x = quat[0] + t.transform.rotation.y = quat[1] + t.transform.rotation.z = quat[2] + t.transform.rotation.w = quat[3] + + self.process_msg_fun('tf', t) diff --git a/carla_ros_bridge/src/carla_ros_bridge/transforms.py b/carla_ros_bridge/src/carla_ros_bridge/transforms.py new file mode 100644 index 000000000..a8087142b --- /dev/null +++ b/carla_ros_bridge/src/carla_ros_bridge/transforms.py @@ -0,0 +1,79 @@ +""" +Tool functions to convert transforms from carla to ros coordinate system +""" +from geometry_msgs.msg import Transform, Pose +import tf + + +def carla_transform_to_ros_transform(carla_transform): + """ + Convert a carla transform to a ros transform + :param carla_transform: + :return: a ros transform + """ + transform_matrix = carla_transform.matrix + + x, y, z = tf.transformations.translation_from_matrix(transform_matrix) + quat = tf.transformations.quaternion_from_matrix(transform_matrix) + + ros_transform = Transform() + # remember that we go from left-handed system (unreal) to right-handed system (ros) + ros_transform.translation.x = x + ros_transform.translation.y = -y + ros_transform.translation.z = z + + roll, pitch, yaw = tf.transformations.euler_from_quaternion(quat) + roll = -roll + pitch = pitch + yaw = -yaw + + quat = tf.transformations.quaternion_from_euler(roll, pitch, yaw) + ros_transform.rotation.x = quat[0] + ros_transform.rotation.y = quat[1] + ros_transform.rotation.z = quat[2] + ros_transform.rotation.w = quat[3] + + return ros_transform + + +def carla_transform_to_ros_pose(carla_transform): + """ + convert a carla transform to ros pose msg + :param carla_transform: + :return: a ros pose msg + """ + transform_matrix = Transform(carla_transform).matrix + + x, y, z = tf.transformations.translation_from_matrix(transform_matrix) + quat = tf.transformations.quaternion_from_matrix(transform_matrix) + + ros_transform = Transform() + ros_transform.translation.x = x + ros_transform.translation.y = y + ros_transform.translation.z = z + + ros_transform.rotation.x = quat[0] + ros_transform.rotation.y = quat[1] + ros_transform.rotation.z = quat[2] + ros_transform.rotation.w = quat[3] + + return ros_transform + + +def ros_transform_to_pose(ros_transform): + """ + Util function to convert a ros transform into a ros pose + + :param ros_transform: + :return: a ros pose msg + """ + pose = Pose() + pose.position.x, pose.position.y, pose.position.z = ros_transform.translation.x, \ + ros_transform.translation.y, \ + ros_transform.translation.z + + pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w = ros_transform.rotation.x, \ + ros_transform.rotation.y, \ + ros_transform.rotation.z, \ + ros_transform.rotation.w + return pose diff --git a/carla_ros_bridge/src/client.py b/carla_ros_bridge/src/client.py deleted file mode 100755 index 9ccb3985e..000000000 --- a/carla_ros_bridge/src/client.py +++ /dev/null @@ -1,556 +0,0 @@ -#!/usr/bin/env python -""" -Ros Bridge for carla - -Using python2 for now, simpler for user on ubuntu to have python2 -(default setup for kinetic and lunar) - -# TODO: group tf in same message ? - -""" - -import math -import numpy as np -import random -import time -import copy - -import rosbag -import rospy -import tf - -from carla.client import make_carla_client -from carla.sensor import Camera, Lidar, LidarMeasurement, Image -from carla.sensor import Transform as carla_Transform -from carla.settings import CarlaSettings - -from ackermann_msgs.msg import AckermannDrive -from cv_bridge import CvBridge -from geometry_msgs.msg import TransformStamped, Transform, Pose -from rosgraph_msgs.msg import Clock -from sensor_msgs.msg import Image as RosImage -from sensor_msgs.msg import PointCloud2, CameraInfo -from sensor_msgs.point_cloud2 import create_cloud_xyz32 -from std_msgs.msg import Header -from tf2_msgs.msg import TFMessage -from visualization_msgs.msg import MarkerArray, Marker - - -def carla_transform_to_ros_transform(carla_transform): - transform_matrix = carla_transform.matrix - - x, y, z = tf.transformations.translation_from_matrix(transform_matrix) - quat = tf.transformations.quaternion_from_matrix(transform_matrix) - - - ros_transform = Transform() - # remember that we go from left-handed system (unreal) to right-handed system (ros) - ros_transform.translation.x = x - ros_transform.translation.y = -y - ros_transform.translation.z = z - - roll, pitch, yaw = tf.transformations.euler_from_quaternion(quat) - roll = -roll - pitch = pitch - yaw = -yaw - - quat = tf.transformations.quaternion_from_euler(roll, pitch, yaw) - ros_transform.rotation.x = quat[0] - ros_transform.rotation.y = quat[1] - ros_transform.rotation.z = quat[2] - ros_transform.rotation.w = quat[3] - - return ros_transform - - -def carla_transform_to_ros_pose(carla_transform): - transform_matrix = Transform(carla_transform).matrix - - x, y, z = tf.transformations.translation_from_matrix(transform_matrix) - quat = tf.transformations.quaternion_from_matrix(transform_matrix) - - ros_transform = Transform() - ros_transform.translation.x = x - ros_transform.translation.y = y - ros_transform.translation.z = z - - ros_transform.rotation.x = quat[0] - ros_transform.rotation.y = quat[1] - ros_transform.rotation.z = quat[2] - ros_transform.rotation.w = quat[3] - - return ros_transform - -def _ros_transform_to_pose(ros_transform): - pose = Pose() - pose.position.x, pose.position.y, pose.position.z = ros_transform.translation.x, \ - ros_transform.translation.y, \ - ros_transform.translation.z - - pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w = ros_transform.rotation.x, \ - ros_transform.rotation.y, \ - ros_transform.rotation.z,\ - ros_transform.rotation.w - return pose - - -def update_marker_pose(object, base_marker): - ros_transform = carla_transform_to_ros_transform(carla_Transform(object.transform)) - base_marker.pose = _ros_transform_to_pose(ros_transform) - - base_marker.scale.x = object.box_extent.x * 2.0 - base_marker.scale.y = object.box_extent.y * 2.0 - base_marker.scale.z = object.box_extent.z * 2.0 - - base_marker.type = Marker.CUBE - -lookup_table_marker_id = {} # <-- TODO: migrate this in a class -def get_vehicle_marker(object, header, agent_id=88, player=False): - """ - :param pb2 object (vehicle, pedestrian or traffic light) - :param base_marker: a marker to fill/update - :return: a marker - """ - marker = Marker(header=header) - marker.color.a = 0.3 - if player: - marker.color.g = 1 - marker.color.r = 0 - marker.color.b = 0 - else: - marker.color.r = 1 - marker.color.g = 0 - marker.color.b = 0 - - if agent_id not in lookup_table_marker_id: - lookup_table_marker_id[agent_id] = len(lookup_table_marker_id) - _id = lookup_table_marker_id[agent_id] - - marker.id = _id - marker.text = "id = {}".format(_id) - update_marker_pose(object, marker) - - - if not player: # related to bug request #322 - marker.scale.x = marker.scale.x / 100.0 - marker.scale.y = marker.scale.y / 100.0 - marker.scale.z = marker.scale.z / 100.0 - - # the box pose seems to require a little bump to be well aligned with camera depth - marker.pose.position.z += marker.scale.z / 2.0 - - return marker - - -class CarlaRosBridge(object): - """ - Carla Ros bridge - """ - def __init__(self, client, params, rate=15): - """ - - :param params: dict of parameters, see settings.yaml - :param rate: rate to query data from carla in Hz - """ - self.message_to_publish = [] - self.param_sensors = params['sensors'] - self.client = client - self.carla_settings = CarlaSettings() - self.carla_settings.set( - SendNonPlayerAgentsInfo=True, - NumberOfVehicles=20, - NumberOfPedestrians=40, - WeatherId=random.choice([1, 3, 7, 8, 14]), - SynchronousMode=params['SynchronousMode'], - QualityLevel=params['QualityLevel']) - self.carla_settings.randomize_seeds() - - self.cv_bridge = CvBridge() - - self.cur_time = rospy.Time.from_sec(0) # at the beginning of simulation - self.carla_game_stamp = 0 - self.carla_platform_stamp = 0 - self.rate = rospy.Rate(rate) - self.publishers = {} - self._camera_infos = {} - self.processes = [] - self.publishers['tf'] = rospy.Publisher("/tf", TFMessage, queue_size=100) - self.publishers['vehicles'] = rospy.Publisher("/vehicles", MarkerArray, queue_size=10) - self.publishers['vehicles_text'] = rospy.Publisher("/vehicles_text", MarkerArray, queue_size=10) - self.publishers['player_vehicle'] = rospy.Publisher("/player_vehicle", Marker, queue_size=10) - self.publishers['pedestrians'] = rospy.Publisher("/pedestrians", MarkerArray, queue_size=10) - self.publishers['traffic_lights'] = rospy.Publisher("/traffic_lights", MarkerArray, queue_size=10) - - # default control command - self.cur_control = {'steer': 0.0, 'throttle': 0.0, 'brake': 0.0, 'hand_brake': False, 'reverse': False} - self.cmd_vel_subscriber = rospy.Subscriber('/ackermann_cmd', AckermannDrive, self.set_new_control_callback) - self.world_link = 'map' - self.sensors = {} - self.tf_to_publish = [] - - def set_new_control_callback(self, data): - """ - Convert a Ackerman drive msg into carla control msg - - Right now the control is really simple and don't enforce acceleration and jerk command, nor the steering acceleration too - :param data: AckermannDrive msg - :return: - """ - steering_angle_ctrl = data.steering_angle - speed_ctrl = data.speed - - max_steering_angle = math.radians(500) # 500 degrees is the max steering angle that I have on my car, - # would be nice if we could use the value provided by carla - max_speed = 27 # just a value for me, 27 m/sec seems to be a reasonable max speed for now - - control = {} - - if abs(steering_angle_ctrl) > max_steering_angle: - rospy.logerr("Max steering angle reached, clipping value") - steering_angle_ctrl = np.clip(steering_angle_ctrl, -max_steering_angle, max_steering_angle) - - if abs(speed_ctrl) > max_speed: - rospy.logerr("Max speed reached, clipping value") - speed_ctrl = np.clip(speed_ctrl, -max_speed, max_speed) - - if speed_ctrl == 0: - control['brake'] = True - - control['steer'] = steering_angle_ctrl / max_steering_angle - control['throttle'] = abs(speed_ctrl / max_speed) - control['reverse'] = True if speed_ctrl < 0 else False - - self.cur_control = control - - def send_msgs(self): - """ - Publish all message store then clean the list of message to publish - - :return: - """ - for name, message in self.message_to_publish: - self.publishers[name].publish(message) - self.message_to_publish = [] - - def add_publishers(self): - self.publishers['clock'] = rospy.Publisher("clock", Clock, queue_size=10) - for name, _ in self.param_sensors.items(): - self.add_sensor(name) - - def compute_cur_time_msg(self): - self.message_to_publish.append(('clock', Clock(self.cur_time))) - - def compute_sensor_msg(self, name, sensor_data): - if isinstance(sensor_data, Image): - self.compute_camera_transform(name, sensor_data) - self.compute_camera_sensor_msg(name, sensor_data) - elif isinstance(sensor_data, LidarMeasurement): - self.compute_lidar_transform(name, sensor_data) - self.compute_lidar_sensor_msg(name, sensor_data) - else: - rospy.logerr("{}, {} is not handled yet".format(name, sensor_data)) - - - def compute_camera_sensor_msg(self, name, sensor): - if sensor.type == 'Depth': - # ROS PEP 0118 : Depth images are published as sensor_msgs/Image encoded as 32-bit float. Each pixel is a depth (along the camera Z axis) in meters. - data = np.float32(sensor.data * 1000.0) # in carla 1.0 = 1km - encoding = 'passthrough' - elif sensor.type == 'SemanticSegmentation': - encoding = 'mono16' # for semantic segmentation we use mono16 in order to be able to limit range in rviz - data = np.uint16(sensor.data) - else: - encoding = 'rgb8' - data = sensor.data - img_msg = self.cv_bridge.cv2_to_imgmsg(data, encoding=encoding) - img_msg.header.frame_id = name - img_msg.header.stamp = self.cur_time - self.message_to_publish.append((name + '/image_raw', img_msg)) - - cam_info = self._camera_infos[name] - cam_info.header = img_msg.header - self.message_to_publish.append((name + '/camera_info', cam_info)) - - - def compute_lidar_sensor_msg(self, name, sensor): - header = Header() - header.frame_id = name - header.stamp = self.cur_time - # we take the oposite of y axis (as lidar point are express in left handed coordinate system, and ros need right handed) - # we need a copy here, because the data are read only in carla numpy array - new_sensor_data = sensor.data.copy() - new_sensor_data = -new_sensor_data - # we also need to permute x and y , todo find why - new_sensor_data = new_sensor_data[..., [1, 0, 2]] - point_cloud_msg = create_cloud_xyz32(header, new_sensor_data) - self.message_to_publish.append((name, point_cloud_msg)) - - - def compute_player_pose_msg(self, player_measurement): - #print("Player measurement is {}".format(player_measurement)) - t = TransformStamped() - t.header.stamp = self.cur_time - t.header.frame_id = self.world_link - t.child_frame_id = "base_link" - t.transform = carla_transform_to_ros_transform(carla_Transform(player_measurement.transform)) - header = Header() - header.stamp = self.cur_time - header.frame_id = self.world_link - marker = get_vehicle_marker(player_measurement, header=header, agent_id=0, player=True) - self.message_to_publish.append(('player_vehicle', marker)) - self.tf_to_publish.append(t) - - def compute_non_player_agent_msg(self, non_player_agents): - """ - - :param non_player_agents: list of carla_server_pb2.Agent return by carla API, - with field 'id', 'vehicle', 'pedestrian', 'traffic_light', 'speed_limit_sign' - - :return: - """ - vehicles = [(agent.id, agent.vehicle) for agent in non_player_agents if agent.HasField('vehicle')] - pedestrians = [(agent.id, agent.pedestrian) for agent in non_player_agents if agent.HasField('pedestrian')] - traffic_lights = [(agent.id, agent.traffic_light) for agent in non_player_agents if agent.HasField('traffic_light')] - - # TODO: add traffic signs - #traffic_lights = [(agent.id, agent.traffic_light) for agent in non_player_agents if agent.HasField('traffic_light')] - - header = Header(stamp=self.cur_time, frame_id=self.world_link) - - self.compute_vehicle_msgs(vehicles, header) - #self.compute_pedestrian_msgs(pedestrians) - #self.compute_traffic_light_msgs(traffic_lights) - - - def compute_vehicle_msgs(self, vehicles, header, agent_id=8): - """ - Add MarkerArray msg for vehicle to the list of message to be publish - - :param vehicles: list of carla pb2 vehicle - """ - if not(vehicles): - return - - markers = [get_vehicle_marker(vehicle, header, agent_id) for agent_id, vehicle in vehicles] - marker_array = MarkerArray(markers) - self.message_to_publish.append(('vehicles', marker_array)) - - # adding text in rviz (TODO: refactor) - markers_text = [copy.copy(marker) for marker in markers] - for marker in markers_text: - marker.type = Marker.TEXT_VIEW_FACING - - marker_array = MarkerArray(markers_text) - self.message_to_publish.append(('vehicles_text', marker_array)) - - - def run(self): - # creating ros publishers, and adding sensors to carla settings - self.add_publishers() - - # load settings into the server - scene = self.client.load_settings(self.carla_settings) - # Choose one player start at random. - number_of_player_starts = len(scene.player_start_spots) - player_start = random.randint(0, max(0, number_of_player_starts - 1)) - # start - self.client.start_episode(player_start) - while not rospy.is_shutdown(): - measurements, sensor_data = self.client.read_data() - self.carla_game_stamp = measurements.game_timestamp - self.carla_platform_stamp = measurements.platform_timestamp - self.cur_time = rospy.Time.from_sec(self.carla_game_stamp * 1000.0) - self.compute_cur_time_msg() - self.compute_player_pose_msg(measurements.player_measurements) - self.compute_non_player_agent_msg(measurements.non_player_agents) - - self.send_msgs() - - for name, sensor in sensor_data.items(): - self.compute_sensor_msg(name, sensor) - - tf_msg = TFMessage(self.tf_to_publish) - self.publishers['tf'].publish(tf_msg) - self.tf_to_publish = [] - - if rospy.get_param('carla_autopilot', True): - control = measurements.player_measurements.autopilot_control - self.client.send_control(control) - else: - control = self.cur_control - self.client.send_control(**control) - - - #self.rate.sleep() # <-- no need of sleep the read call should already be blocking - - - def add_sensor(self, name): - """ - Add sensor base on sensor name in settings - :param name: - :return: - """ - sensor_type = self.param_sensors[name]['SensorType'] - params = self.param_sensors[name]['carla_settings'] - rospy.loginfo("Adding publisher for sensor {}".format(name)) - - if sensor_type == 'LIDAR_RAY_CAST': - self.add_lidar_sensor(name, params) - elif sensor_type == 'CAMERA': - self.add_camera_sensor(name, params) - else: - rospy.logerr("{sensor_type} not implemented".format(sensor_type=sensor_type)) - - - def compute_camera_transform(self, name, sensor_data): - parent_frame_id = "base_link" - child_frame_id = name - - t = TransformStamped() - t.header.stamp = self.cur_time - t.header.frame_id = parent_frame_id - t.child_frame_id = child_frame_id - - # for camera we reorient it to look at the same axis as the opencv projection - # in order to get easy depth cloud for rgbd camera - t.transform = carla_transform_to_ros_transform(self.sensors[name].get_transform()) - - rotation = t.transform.rotation - quat = [rotation.x, rotation.y, rotation.z, rotation.w] - roll, pitch, yaw = tf.transformations.euler_from_quaternion(quat) - - roll -= math.pi/2.0 - yaw -= math.pi/2.0 - - quat = tf.transformations.quaternion_from_euler(roll, pitch, yaw) - - t.transform.rotation.x = quat[0] - t.transform.rotation.y = quat[1] - t.transform.rotation.z = quat[2] - t.transform.rotation.w = quat[3] - - self.tf_to_publish.append(t) - - def compute_lidar_transform(self, name, sensor_data): - parent_frame_id = "base_link" - child_frame_id = name - - t = TransformStamped() - t.header.stamp = self.cur_time - t.header.frame_id = parent_frame_id - t.child_frame_id = child_frame_id - t.transform = carla_transform_to_ros_transform(self.sensors[name].get_transform()) - - self.tf_to_publish.append(t) - - - def add_camera_sensor(self, name, params): - """ - - :param name: - :param params: - :return: - """ - # The default camera captures RGB images of the scene. - cam = Camera(name, **params) - - self.carla_settings.add_sensor(cam) - self.sensors[name] = cam # we also add the sensor to our lookup - topic_image = name + '/image_raw' - topic_camera = name + '/camera_info' - self.publishers[topic_image] = rospy.Publisher(topic_image, RosImage, queue_size=10) - self.publishers[topic_camera] = rospy.Publisher(topic_camera, CameraInfo, queue_size=10) - - # computing camera info, when publishing update the stamp - camera_info = CameraInfo() - camera_info.header.frame_id = name - camera_info.width = cam.ImageSizeX - camera_info.height = cam.ImageSizeY - camera_info.distortion_model = 'plumb_bob' - cx = cam.ImageSizeX / 2.0 - cy = cam.ImageSizeY / 2.0 - fx = cam.ImageSizeX / (2.0 * math.tan(cam.FOV * math.pi / 360.0)) - fy = fx - - camera_info.K = [fx, 0, cx, - 0, fy, cy, - 0, 0, 1] - - camera_info.D = [0, 0, 0, 0, 0] - - camera_info.R = [1.0, 0, 0, - 0, 1.0, 0, - 0, 0, 1.0] - - camera_info.P = [fx, 0, cx, 0, - 0, fy, cy, 0, - 0, 0, 1.0, 0] - - self._camera_infos[name] = camera_info - - - def add_lidar_sensor(self, name, params): - """ - - :param name: - :param params: - :return: - """ - lidar = Lidar(name, **params) - self.carla_settings.add_sensor(lidar) - self.sensors[name] = lidar # we also add the sensor to our lookup - self.publishers[name] = rospy.Publisher(name, PointCloud2, queue_size=10) - - def __enter__(self): - return self - - def __exit__(self, exc_type, exc_val, exc_tb): - rospy.loginfo("Exiting Bridge") - return None - - -class CarlaRosBridgeWithBag(CarlaRosBridge): - def __init__(self, *args, **kwargs): - super(CarlaRosBridgeWithBag, self).__init__(*args, **kwargs) - timestr = time.strftime("%Y%m%d-%H%M%S") - self.bag = rosbag.Bag('/tmp/output_{}.bag'.format(timestr), mode='w') - - def send_msgs(self): - for name, msg in self.message_to_publish: - self.bag.write(name, msg, self.cur_time) - - super(CarlaRosBridgeWithBag, self).send_msgs() - - def __enter__(self): - return self - - def __exit__(self, exc_type, exc_value, traceback): - rospy.loginfo("Closing the bag file") - self.bag.close() - super(CarlaRosBridgeWithBag, self).__exit__(exc_type, exc_value, traceback) - - - -def main(): - rospy.init_node("carla_client", anonymous=True) - - - params = rospy.get_param('carla') - host = params['host'] - port = params['port'] - - rospy.loginfo("Trying to connect to {host}:{port}".format(host=host, port=port)) - - with make_carla_client(host, port) as client: - rospy.loginfo("Connection is ok") - - bridge_cls = CarlaRosBridgeWithBag if rospy.get_param('enable_rosbag') else CarlaRosBridge - with bridge_cls(client=client, params=params) as carla_ros_bridge: - carla_ros_bridge.run() - - -if __name__ == "__main__": - main() - - - diff --git a/carla_ros_bridge/test/ros_bridge_client.py b/carla_ros_bridge/test/ros_bridge_client.py new file mode 100644 index 000000000..0aa9647a9 --- /dev/null +++ b/carla_ros_bridge/test/ros_bridge_client.py @@ -0,0 +1,16 @@ +#!/usr/bin/env python +import rostest +import sys +import unittest + +from carla_ros_bridge.client import main + +## A sample python unit test +class TestPublishedTopics(unittest.TestCase): + def test_camera_topics(self): + self.assertEquals(1, 1, "1!=1") + + + +if __name__ == '__main__': + rostest.rosrun(__name__, 'test_published_topics', TestPublishedTopics) diff --git a/carla_ros_bridge/test/ros_bridge_client.test b/carla_ros_bridge/test/ros_bridge_client.test new file mode 100644 index 000000000..f8500b802 --- /dev/null +++ b/carla_ros_bridge/test/ros_bridge_client.test @@ -0,0 +1,38 @@ + + + + + + + + + + topics: + - name: /player_vehicle + timeout: 20 + negative: False + - name: /tf + timeout: 20 + negative: False + - name: /camera_front/image_raw + timeout: 20 + negative: False + - name: /camera_front/camera_info + timeout: 20 + negative: False + - name: /camera_depth/image_raw + timeout: 20 + negative: False + - name: /camera_depth/camera_info + timeout: 20 + negative: False + - name: /vehicles + timeout: 20 + negative: False + + + + + + + \ No newline at end of file From 71f5b115e2232ea63fa8b3a86762cfc7d9f4a6a1 Mon Sep 17 00:00:00 2001 From: Laurent George Date: Tue, 5 Jun 2018 16:48:04 +0200 Subject: [PATCH 06/11] Fix load params from settings.yaml Some parameters were not loaded from config file, and only hardcoded default value was used. --- carla_ros_bridge/src/carla_ros_bridge/bridge.py | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge.py b/carla_ros_bridge/src/carla_ros_bridge/bridge.py index 01fc8d3bd..90852326b 100644 --- a/carla_ros_bridge/src/carla_ros_bridge/bridge.py +++ b/carla_ros_bridge/src/carla_ros_bridge/bridge.py @@ -57,12 +57,13 @@ class CarlaRosBridge(object): self.param_sensors = params.get('sensors', {}) self.carla_settings = CarlaSettings() self.carla_settings.set( - SendNonPlayerAgentsInfo=True, - NumberOfVehicles=20, - NumberOfPedestrians=40, - WeatherId=random.choice([1, 3, 7, 8, 14]), - SynchronousMode=params['SynchronousMode'], - QualityLevel=params['QualityLevel']) + SendNonPlayerAgentsInfo=params.get('SendNonPlayerAgentsInfo', True), + NumberOfVehicles=params.get('NumberOfVehicles', 20), + NumberOfPedestrians=params.get('NumberOfPedestrians', 40), + WeatherId=params.get('WeatherId', random.choice([1, 3, 7, 8, 14])), + SynchronousMode=params.get('SynchronousMode', True), + QualityLevel=params.get('QualityLevel', 'Low') + ) self.carla_settings.randomize_seeds() def add_sensor(self, name): From 9c98e480133d1a8a641448ca904d83e20066b4a5 Mon Sep 17 00:00:00 2001 From: Laurent George Date: Tue, 5 Jun 2018 16:52:09 +0200 Subject: [PATCH 07/11] Add default settings example in settings.yaml --- carla_ros_bridge/config/settings.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/carla_ros_bridge/config/settings.yaml b/carla_ros_bridge/config/settings.yaml index 466ae33bb..1adf0a46f 100644 --- a/carla_ros_bridge/config/settings.yaml +++ b/carla_ros_bridge/config/settings.yaml @@ -4,6 +4,9 @@ carla: QualityLevel: Low # Low or Epic SynchronousMode: True SendNonPlayerAgentsInfo: True + NumberOfVehicles: 30 + NumberOfPedestrians: 10 + WeatherId: 1 sensors: camera_front: From cc6157e11c56da2138ab6d71578ec958b45faaa2 Mon Sep 17 00:00:00 2001 From: Laurent George Date: Tue, 5 Jun 2018 17:17:58 +0200 Subject: [PATCH 08/11] Fix rosbag recorder A little mistake was still present, now the rosbag recorder works fine --- carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py b/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py index 1fdc2220f..b99565ebe 100644 --- a/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py +++ b/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py @@ -18,8 +18,8 @@ class CarlaRosBridgeWithBag(CarlaRosBridge): self.bag = rosbag.Bag('/tmp/output_{}.bag'.format(timestr), mode='w') def send_msgs(self): - for name, msg in self.message_to_publish: - self.bag.write(name, msg, self.cur_time) + for publisher, msg in self.msgs_to_publish: + self.bag.write(publisher.name, msg, self.cur_time) tf_msg = TFMessage(self.tf_to_publish) self.bag.write('tf', tf_msg, self.cur_time) From df2561b0b35382cc7a6f5067cba44402edcbcfd2 Mon Sep 17 00:00:00 2001 From: Laurent George Date: Wed, 6 Jun 2018 11:23:59 +0200 Subject: [PATCH 09/11] Fix Readme Fix small mistakes in documentation thanks to report of beta-testers. Add documentation for rosbag option. --- carla_ros_bridge/Readme.md | 30 +++++++++++++++++++++--------- 1 file changed, 21 insertions(+), 9 deletions(-) diff --git a/carla_ros_bridge/Readme.md b/carla_ros_bridge/Readme.md index 41d58629a..b5f2e1ecc 100644 --- a/carla_ros_bridge/Readme.md +++ b/carla_ros_bridge/Readme.md @@ -42,7 +42,7 @@ http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment ## Install carla python client in your workspace cd carla/PythonClient - pip install -e . --user --upgrade + pip2 install -e . --user --upgrade Check the installation is successfull by trying to import carla from python: @@ -53,7 +53,7 @@ You should see the Success message without any errors. ### Install recent protobuf version [optional] sudo apt-get remove python-protobuf - sudo pip install --upgrade protobuf + sudo pip2 install --upgrade protobuf ### Add the carla_ros_bridge in the catkin workspace @@ -64,7 +64,8 @@ Run the following command after replacing [PATH_TO_CARLA] with the actual path t source ~/ros/catkin_ws_for_carla/devel/setup.bash rosdep update rosdep install --from-paths ~/ros/catkin_ws_for_carla - catkin_make ~/ros/catkin_ws_for_carla + cd ~/ros/catkin_ws_for_carla + catkin_make ### Test your installation @@ -80,7 +81,7 @@ Wait for the message: Then run the tests - rostest carla_ros_bridge test/ros_bridge_client.test + rostest carla_ros_bridge ros_bridge_client.test you should see: @@ -104,7 +105,7 @@ Wait for the message: Then start the ros bridge: - source ~/catkin_ws/devel/setup.bash + source ~/ros/catkin_ws_for_carla/devel/setup.bash roslaunch carla_ros_bridge client.launch To start the ros bridge with rviz use: @@ -130,13 +131,13 @@ Then you can send command to the car using the /ackermann_cmd topic. Example of forward movements, speed in in meters/sec. - rostopic pub /ackerman_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, + rostopic pub /ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, jerk: 0.0}" -r 10 Example of forward with steering - rostopic pub /ackerman_cmd ackermann_msgs/AckermannDrive "{steering_angle: 5.41, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, + rostopic pub /ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 5.41, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, jerk: 0.0}" -r 10 Warning: the steering_angle is the driving angle (in radians) not the wheel angle, for now max wheel is set to 500 degrees. @@ -144,7 +145,18 @@ Example of forward with steering Example for backward : - rostopic pub /ackerman_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0, steering_angle_velocity: 0.0, speed: -10, acceleration: 0.0, + rostopic pub /ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0, steering_angle_velocity: 0.0, speed: -10, acceleration: 0.0, jerk: 0.0}" -r 10 - + + +# ROSBAG recording + +The carla_ros_bridge could also be used to record all published topics into a rosbag: + + roslaunch carla_ros_bridge client_with_rviz.launch enable_rosbag:=True + +This command will create a rosbag in /tmp/output_{date}.bag + +You can of course also use rosbag record to do the same, but using the ros_bridge to do the recording you have the guarentee that all the message are saved without small desynchronization that could occurs when using *rosbag record* in an other process. + From 587c7b36a0ca067124a1319ad2faf272f701796c Mon Sep 17 00:00:00 2001 From: Laurent George Date: Fri, 8 Jun 2018 08:59:30 +0200 Subject: [PATCH 10/11] Remove hardcoding rosbag path --- carla_ros_bridge/Readme.md | 4 ++-- carla_ros_bridge/client.launch | 4 ++-- carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py | 5 +++-- carla_ros_bridge/src/carla_ros_bridge/client.py | 2 +- 4 files changed, 8 insertions(+), 7 deletions(-) diff --git a/carla_ros_bridge/Readme.md b/carla_ros_bridge/Readme.md index b5f2e1ecc..7a69406b3 100644 --- a/carla_ros_bridge/Readme.md +++ b/carla_ros_bridge/Readme.md @@ -153,9 +153,9 @@ Example for backward : The carla_ros_bridge could also be used to record all published topics into a rosbag: - roslaunch carla_ros_bridge client_with_rviz.launch enable_rosbag:=True + roslaunch carla_ros_bridge client_with_rviz.launch rosbag_fname:=/tmp/save_session.bag -This command will create a rosbag in /tmp/output_{date}.bag +This command will create a rosbag /tmp/save_session.bag You can of course also use rosbag record to do the same, but using the ros_bridge to do the recording you have the guarentee that all the message are saved without small desynchronization that could occurs when using *rosbag record* in an other process. diff --git a/carla_ros_bridge/client.launch b/carla_ros_bridge/client.launch index 07c77f5fd..020ac907e 100644 --- a/carla_ros_bridge/client.launch +++ b/carla_ros_bridge/client.launch @@ -1,7 +1,7 @@ - + + - diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py b/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py index b99565ebe..82ca3db52 100644 --- a/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py +++ b/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py @@ -7,6 +7,7 @@ import time from tf2_msgs.msg import TFMessage import rosbag import rospy +import os from carla_ros_bridge.bridge import CarlaRosBridge @@ -14,8 +15,8 @@ from carla_ros_bridge.bridge import CarlaRosBridge class CarlaRosBridgeWithBag(CarlaRosBridge): def __init__(self, *args, **kwargs): super(CarlaRosBridgeWithBag, self).__init__(*args, **kwargs) - timestr = time.strftime("%Y%m%d-%H%M%S") - self.bag = rosbag.Bag('/tmp/output_{}.bag'.format(timestr), mode='w') + rosbag_fname = rospy.get_param('rosbag_fname') + self.bag = rosbag.Bag(rosbag_fname, mode='w') def send_msgs(self): for publisher, msg in self.msgs_to_publish: diff --git a/carla_ros_bridge/src/carla_ros_bridge/client.py b/carla_ros_bridge/src/carla_ros_bridge/client.py index 124355b32..6f9fdea9e 100755 --- a/carla_ros_bridge/src/carla_ros_bridge/client.py +++ b/carla_ros_bridge/src/carla_ros_bridge/client.py @@ -24,7 +24,7 @@ def main(): rospy.loginfo("Connected") bridge_cls = CarlaRosBridgeWithBag if rospy.get_param( - 'enable_rosbag') else CarlaRosBridge + 'rosbag_fname', '') else CarlaRosBridge with bridge_cls(client=client, params=params) as carla_ros_bridge: rospy.on_shutdown(carla_ros_bridge.on_shutdown) carla_ros_bridge.run() From 0502e607b7756981f129981f08dd6b02d095f59c Mon Sep 17 00:00:00 2001 From: Laurent George Date: Fri, 8 Jun 2018 16:49:17 +0200 Subject: [PATCH 11/11] Fix timestamp bug Carla stamp is in ms thus we need to divide it by 1000 to go to seconds (and not the inverse) --- carla_ros_bridge/src/carla_ros_bridge/bridge.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge.py b/carla_ros_bridge/src/carla_ros_bridge/bridge.py index 90852326b..82332fb83 100644 --- a/carla_ros_bridge/src/carla_ros_bridge/bridge.py +++ b/carla_ros_bridge/src/carla_ros_bridge/bridge.py @@ -142,7 +142,7 @@ class CarlaRosBridge(object): # handle time self.carla_game_stamp = measurements.game_timestamp - self.cur_time = rospy.Time.from_sec(self.carla_game_stamp * 1000.0) + self.cur_time = rospy.Time.from_sec(self.carla_game_stamp * 1e-3) self.compute_cur_time_msg() # handle agents

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