diff --git a/Docs/how_to_build_on_linux.md b/Docs/how_to_build_on_linux.md index 5939d8ef0..f25bf6430 100644 --- 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 ------------------- diff --git a/PythonClient/carla/driving_benchmark/driving_benchmark.py b/PythonClient/carla/driving_benchmark/driving_benchmark.py index 0c088917a..a1027e1fc 100644 --- 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) diff --git a/carla_ros_bridge/config/carla_default_rviz.cfg.rviz b/carla_ros_bridge/config/carla_default_rviz.cfg.rviz index bc76d9903..69b8e343a 100644 --- 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: 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+ 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 diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge.py b/carla_ros_bridge/src/carla_ros_bridge/bridge.py old mode 100644 new mode 100755 index d18137097..4c8cd2979 --- 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(): diff --git a/carla_ros_bridge/src/carla_ros_bridge/map.py b/carla_ros_bridge/src/carla_ros_bridge/map.py new file mode 100755 index 000000000..33830951b --- /dev/null +++ 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)