Merge branch 'master' into ros_bridge_odometry_msg

2018-08-20 15:00:13 +02:00 · 2018-08-20 15:00:13 +02:00 · 121db94a02
parent 8e76b93b01 2bf6d12207
commit 121db94a02
5 changed files with 119 additions and 42 deletions
--- a/Docs/how_to_build_on_linux.md
+++ b/Docs/how_to_build_on_linux.md
@ -12,6 +12,10 @@ sudo apt-get install build-essential clang-5.0 lld-5.0 g++-7 ninja-build python
 pip install --user setuptools nose2
 ```

+Note that some dependencies require **CMake 3.9** or later installed in your
+machine, you can retrieve the latest version from the
+[CMake download page][cmakelink].
+
 To avoid compatibility issues between Unreal Engine and the CARLA dependencies,
 the best configuration is to compile everything with the same compiler version
 and C++ runtime library. We use clang 5.0 and LLVM's libc++. We recommend to
@ -23,6 +27,8 @@ sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-5.0/bi
 sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-5.0/bin/clang 101
 ```

+[cmakelink]: https://cmake.org/download/
+
 Build Unreal Engine
 -------------------

--- a/PythonClient/carla/driving_benchmark/driving_benchmark.py
+++ b/PythonClient/carla/driving_benchmark/driving_benchmark.py
@ -31,7 +31,7 @@ class DrivingBenchmark(object):
    an Agent class with a set Suite.


-    The benchmark class must be inherited with a class that defines the
+    The benchmark class must be inherited by a class that defines the
    all the experiments to be run by the agent
    """

@ -63,8 +63,8 @@ class DrivingBenchmark(object):
    def benchmark_agent(self, experiment_suite, agent, client):
        """
        Function to benchmark the agent.
-        It first check the log file for this benchmark.
-        if it exist it continues from the experiment where it stopped.
+        It first checks the log file of this benchmark.
+        if it exists, it continues from the experiment where it stopped.


        Args:
@ -83,7 +83,7 @@ class DrivingBenchmark(object):
        metrics_object = Metrics(experiment_suite.metrics_parameters,
                                 experiment_suite.dynamic_tasks)

-        # Function return the current pose and task for this benchmark.
+        # Function returns the current pose and task for this benchmark.
        start_pose, start_experiment = self._recording.get_pose_and_experiment(
            experiment_suite.get_number_of_poses_task())

@ -150,7 +150,7 @@ class DrivingBenchmark(object):

    def get_path(self):
        """
-        Returns the path were the log was saved.
+        Returns the path where the log was saved.
        """
        return self._recording.path

@ -171,7 +171,7 @@ class DrivingBenchmark(object):

    def _get_shortest_path(self, start_point, end_point):
        """
-        Calculates the shortest path between two points considering the road netowrk
+        Calculates the shortest path between two points considering the road network
        """

        return self._planner.get_shortest_path_distance(
@ -189,7 +189,7 @@ class DrivingBenchmark(object):
            target,
            episode_name):
        """
-         Run one episode of the benchmark (Pose) for a certain agent.
+         Runs one episode of the benchmark (Pose) for a certain agent.


        Args:
@ -223,7 +223,7 @@ class DrivingBenchmark(object):
            measurements, sensor_data = client.read_data()
            # The directions to reach the goal are calculated.
            directions = self._get_directions(measurements.player_measurements.transform, target)
-            # Agent process the data.
+            # The agent processes the data.
            control = agent.run_step(measurements, sensor_data, directions, target)
            # Send the control commands to the vehicle
            client.send_control(control)
--- a/carla_ros_bridge/config/carla_default_rviz.cfg.rviz
+++ b/carla_ros_bridge/config/carla_default_rviz.cfg.rviz
@ -8,7 +8,7 @@ Panels:
        - /Status1
        - /DepthCloud1/Auto Size1
      Splitter Ratio: 0.5
-    Tree Height: 334
+    Tree Height: 332
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
@ -17,7 +17,7 @@ Panels:
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
+    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
@ -36,18 +36,18 @@ Panels:
        - /Global Options1
        - /non_player_vehicles1
        - /DepthCloud1/Auto Size1
-      Splitter Ratio: 0.4943566620349884
-    Tree Height: 170
+      Splitter Ratio: 0.494356662
+    Tree Height: 181
 Visualization Manager:
  Class: ""
  Displays:
-    - Alpha: 0.10000000149011612
+    - Alpha: 0.100000001
      Cell Size: 1
      Class: rviz/Grid
      Color: 170; 164; 162
      Enabled: true
      Line Style:
-        Line Width: 0.029999999329447746
+        Line Width: 0.0299999993
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
@ -88,7 +88,7 @@ Visualization Manager:
      Marker Topic: /vehicles
      Name: non_player_vehicles
      Namespaces:
-        {}
+        "": true
      Queue Size: 100
      Value: true
    - Class: rviz/Marker
@ -122,7 +122,7 @@ Visualization Manager:
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
-      Size (m): 0.009999999776482582
+      Size (m): 0.00999999978
      Style: Flat Squares
      Topic: /lidar_0
      Unreliable: false
@ -167,6 +167,16 @@ Visualization Manager:
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
+    - Alpha: 0.699999988
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
@ -192,64 +202,62 @@ Visualization Manager:
  Views:
    Current:
      Class: rviz/ThirdPersonFollower
-      Distance: 31.861072540283203
+      Distance: 31.8610725
      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
+        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
-        X: 6.999748229980469
-        Y: 0.7988636493682861
-        Z: 2.896774276450742e-6
+        X: 6.99974823
+        Y: 0.798863649
+        Z: 2.89677428e-06
      Focal Shape Fixed Size: false
-      Focal Shape Size: 0.05000000074505806
+      Focal Shape Size: 0.0500000007
      Invert Z Axis: false
      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.18520352244377136
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.185203522
      Target Frame: base_link
      Value: ThirdPersonFollower (rviz)
-      Yaw: 3.5035617351531982
+      Yaw: 3.50356174
    Saved:
      - Class: rviz/FPS
        Enable Stereo Rendering:
-          Stereo Eye Separation: 0.05999999865889549
+          Stereo Eye Separation: 0.0599999987
          Stereo Focal Distance: 1
          Swap Stereo Eyes: false
          Value: false
        Invert Z Axis: false
        Name: FPS
-        Near Clip Distance: 0.009999999776482582
-        Pitch: 0.984796941280365
+        Near Clip Distance: 0.00999999978
+        Pitch: 0.984796941
        Position:
-          X: 48.14033508300781
-          Y: -258.651123046875
-          Z: 284.4742431640625
+          X: 48.1403351
+          Y: -258.651123
+          Z: 284.474243
        Target Frame: base_link
        Value: FPS (rviz)
-        Yaw: 1.521981120109558
+        Yaw: 1.52198112
 Window Geometry:
-  "&Displays":
-    collapsed: false
-  "&Tool Properties":
-    collapsed: false
-  "&Views":
-    collapsed: false
  Depth:
    collapsed: false
  Displays:
    collapsed: false
-  Front_&cam:
+  Front_cam:
    collapsed: false
  Height: 994
  Hide Left Dock: false
  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000019a0000032bfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007601000003fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000430000032d000000f601000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000100044006900730070006c0061007900730100000043000000f6000000f601000003fb0000001200460072006f006e0074005f00630061006d010000013a0000011d0000002201000003fb0000000a00440065007000740068010000025800000116000000220100000300000001000001810000032bfc0200000009fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000043000001950000007601000003fb0000000a004400650070007400680000000043000001e80000000000000000fb00000018005300650067006d0065006e0074006100740069006f006e000000017f0000011f0000000000000000fb0000000a0049006d0061006700650000000043000000f60000000000000000fb0000000a0049006d0061006700650000000043000001630000000000000000fb0000001a00630061006d005f00660072006f006e0074005f00720067006200000001a7000001c70000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000001d900000195000000ce01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000690000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006900000004dfc0100000002fb0000000800540069006d0065010000000000000690000002bb01000003fb0000000800540069006d00650100000000000004500000000000000000000003730000032b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 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
  Selection:
    collapsed: false
-  T&ime:
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
    collapsed: false
  Width: 1680
-  X: 0
+  X: 49
  Y: 30
--- a/carla_ros_bridge/src/carla_ros_bridge/bridge.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
@ -14,6 +14,7 @@ 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
+from carla_ros_bridge.map import MapHandler


 class CarlaRosBridge(object):
@ -138,6 +139,10 @@ class CarlaRosBridge(object):
        number_of_player_starts = len(scene.player_start_spots)
        player_start = random.randint(0, max(0, number_of_player_starts - 1))

+        # Send occupancy grid to rivz
+        map_handler = MapHandler(scene.map_name)
+        map_handler.send_map()
+
        self.client.start_episode(player_start)

        for frame in count():
--- a/carla_ros_bridge/src/carla_ros_bridge/map.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/map.py
@ -0,0 +1,58 @@
+"""
+Class to handle occupancy grid
+"""
+
+import numpy as np
+import rospy
+import tf
+from nav_msgs.msg import OccupancyGrid
+
+from carla.planner.map import CarlaMap
+
+
+class MapHandler(object):
+    """
+    Convert CarlaMap lane image to ROS OccupancyGrid message
+    """
+
+    def __init__(self, map_name, topic='/map'):
+        self.map_name = map_name
+        self.carla_map = CarlaMap(map_name)
+        self.map_pub = rospy.Publisher(
+            topic, OccupancyGrid, queue_size=10, latch=True)
+        self.build_map_message()
+
+    def build_map_message(self):
+        self.map_msg = map_msg = OccupancyGrid()
+
+        # form array for map
+        map_img = self.carla_map.get_map_lanes()
+        # extract green channel, invert, scale to range 0..100, convert to int8
+        map_img = (100 - map_img[..., 1] * 100.0 / 255).astype(np.int8)
+        map_msg.data = map_img.ravel().tolist()
+
+        # set up general info
+        map_msg.info.resolution = self.carla_map._pixel_density
+        map_msg.info.width = map_img.shape[1]
+        map_msg.info.height = map_img.shape[0]
+
+        # set up origin orientation
+        quat = tf.transformations.quaternion_from_euler(0, 0, np.pi)
+        map_msg.info.origin.orientation.x = quat[0]
+        map_msg.info.origin.orientation.y = quat[1]
+        map_msg.info.origin.orientation.z = quat[2]
+        map_msg.info.origin.orientation.w = quat[3]
+
+        # set up origin position
+        top_right_corner = float(map_img.shape[1]), 0.0
+        to_world = self.carla_map.convert_to_world(top_right_corner)
+        map_msg.info.origin.position.x = to_world[0]
+        map_msg.info.origin.position.y = -to_world[1]
+        map_msg.info.origin.position.z = to_world[2]
+
+        # FIXME: height for Town01 is still in centimeters (issue #541)
+        if self.map_name == 'Town01':
+            map_msg.info.origin.position.z *= 100
+
+    def send_map(self):
+        self.map_pub.publish(self.map_msg)