Added rviz config files to ros2 native example

2024-12-11 16:03:58 +01:00 · 2024-12-11 16:03:58 +01:00 · 28887886a2
parent 7a12801610
commit 28887886a2
4 changed files with 300 additions and 0 deletions
--- a/PythonAPI/examples/ros2/REAME.md
+++ b/PythonAPI/examples/ros2/REAME.md
@ -0,0 +1,40 @@
+# ROS2 Native Example
+
+This example demonstrates how to utilize the ROS 2 native interface in CARLA.
+
+## Prerequisites
+
+To run this example, ensure `docker` is installed in your system, which is used to launch an instance of `rviz` for visualizing sensor data.
+
+
+## Usage
+
+### Step 1: Start the CARLA Simulator with ROS2 enabled
+Launch the CARLA simulator with the ROS 2 integration enabled:
+
+```bash
+./CarlaUnreal.sh --ros2
+```
+
+### Step 2: Run the ROS2 Example
+
+Execute the ROS 2 example script:
+
+```bash
+python3 ros2_native.py --file stack.json
+```
+
+* The `stack.json` file defines the sensor configuration.
+* You can edit this file to adjust the sensor setup according to your requirements.
+
+
+### Step 3: Run RViz to Visualize Sensor Data
+
+Start `rviz` to visualize the sensor output from CARLA:
+
+> [!NOTE]
+Docker must be installed on your system to complete this step.
+
+```bash
+./run_rviz.sh
+```
--- a/PythonAPI/examples/ros2/config/fastrtps-profile.xml
+++ b/PythonAPI/examples/ros2/config/fastrtps-profile.xml
@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>CustomUdpTransport</transport_id>
+            <type>UDPv4</type>
+        </transport_descriptor>
+    </transport_descriptors>
+
+    <participant profile_name="participant_profile" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>CustomUdpTransport</transport_id>
+            </userTransports>
+
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+    <publisher profile_name="default publisher profile" is_default_profile="true">
+            <qos>
+                <publishMode>
+                    <kind>SYNCHRONOUS</kind>
+                </publishMode>
+            </qos>
+            <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
+        </publisher>
+</profiles>
--- a/PythonAPI/examples/ros2/run_rviz.sh
+++ b/PythonAPI/examples/ros2/run_rviz.sh
@ -0,0 +1,24 @@
+#!/bin/bash
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+function transfer_x11_permissions() {
+    # store X11 access rights in temp file to be passed into docker container
+    XAUTH=/tmp/.docker.xauth
+    touch $XAUTH
+    xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
+}
+
+transfer_x11_permissions
+docker run \
+    --rm \
+    --net=host \
+    --env="DISPLAY=$DISPLAY" \
+    --env="XAUTHORITY=$XAUTH" \
+    --env="FASTRTPS_DEFAULT_PROFILES_FILE=/config/fastrtps-profile.xml" \
+    --volume="${SCRIPT_DIR}/config:/config:ro" \
+    --volume="${SCRIPT_DIR}/rviz:/rviz:rw" \
+    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+    --volume="$XAUTH:$XAUTH" \
+    osrf/ros:humble-desktop \
+    ros2 run rviz2 rviz2 -d /rviz/ros2_native.rviz
--- a/PythonAPI/examples/ros2/rviz/ros2_native.rviz
+++ b/PythonAPI/examples/ros2/rviz/ros2_native.rviz
@ -0,0 +1,209 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 116
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1/Frames1
+        - /TF1/Tree1
+        - /Lidar1/PointCloud1
+      Splitter Ratio: 0.6775068044662476
+    Tree Height: 557
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: false
+      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: 10
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        hero:
+          Value: true
+        lidar:
+          Value: true
+        rgb:
+          Value: true
+      Marker Scale: 10
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        hero:
+          lidar:
+            {}
+          rgb:
+            {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz_common/Group
+      Displays:
+        - Class: rviz_default_plugins/Image
+          Enabled: true
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: RGB
+          Normalize Range: true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /carla/hero/rgb/image
+          Value: true
+      Enabled: true
+      Name: Cameras
+    - Class: rviz_common/Group
+      Displays:
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz_default_plugins/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: Intensity
+          Decay Time: 0.15000000596046448
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 0.9900385737419128
+          Min Color: 0; 0; 0
+          Min Intensity: 0.7121721506118774
+          Name: PointCloud
+          Position Transformer: XYZ
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.10999999940395355
+          Style: Flat Squares
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /carla/hero/lidar
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+      Enabled: true
+      Name: Lidar
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: hero
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 77.47811889648438
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.7942232489585876
+        Y: -0.8899260759353638
+        Z: -0.2945995330810547
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.34039872884750366
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.1253957748413086
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1163
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 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
+  RGB:
+    collapsed: false
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 1920
+  Y: 0