Merge branch 'dev' into jose/adjustvehiclebb

CHANGELOG.md

@@ -1,7 +1,8 @@
 ## Latest Changes
  * Prevent from segfault on failing SignalReference identification when loading OpenDrive files
-  * Added vehicle doors to the recorder
-  * Adjusted vehicle BoundingBox when the vehicle opens the doors.
+ * Added vehicle doors to the recorder
+ * Adjusted vehicle BoundingBox when the vehicle opens the doors.
+ * Added functions to get actor' components transform
 
 ## CARLA 0.9.15
 

Docs/tuto_content_authoring_maps.md

@@ -422,10 +422,10 @@ Drag your desired foliage item into the box labeled `+ Drop Foliage Here`. Set a
 To export a map as a map package that can be ingested into a standalone CARLA package installation, use the `make package` command as follows:
 
 ```sh
-make package ARGS="--packages=<mapPackage>"
+make package ARGS="--packages=<mapName>"
 ```
 
-The `<mapPackage>` must point to a json file located in `CARLA_ROOT/Unreal/CarlaUE4/Content/Carla/Config` named *mapPackage.json* which has the following structure:
+The `<mapName>` must point to a json file located in `CARLA_ROOT/Unreal/CarlaUE4/Content/Carla/Config` named *mapName.Package.json* which has the following structure:
 
 ```json
 {

Jenkinsfile

@@ -189,12 +189,14 @@ pipeline
                                                 sh 'DISPLAY= ./Dist/CarlaUE4.sh -nullrhi -RenderOffScreen --carla-rpc-port=3654 --carla-streaming-port=0 -nosound > CarlaUE4.log &'
                                                 sh 'make smoke_tests ARGS="--xml --python-version=3.8 --target-wheel-platform=manylinux_2_27_x86_64"'
                                                 sh 'make run-examples ARGS="localhost 3654"'
+                                                sh 'tar -czf CarlaUE4_logs.tar.gz Unreal/CarlaUE4/Saved/Logs/'
                                             }
                                             post
                                             {
                                                 always
                                                 {
                                                     archiveArtifacts 'CarlaUE4.log'
+                                                    archiveArtifacts 'CarlaUE4_logs.tar.gz'
                                                     junit 'Build/test-results/smoke-tests-*.xml'
                                                 }
                                             }
@@ -320,6 +322,13 @@ pipeline
                             }
                         }
                     }
+                    post
+                    {
+                        always
+                        {
+                            deleteDir()
+                        }
+                    }
                 }
                 /*
                 stage('windows')

LibCarla/source/carla/client/Actor.cpp

@@ -32,6 +32,14 @@ namespace client {
     return GetEpisode().Lock()->GetActorAcceleration(*this);
   }
 
+  geom::Transform Actor::GetComponentWorldTransform(const std::string componentName) const {
+    return GetEpisode().Lock()->GetActorComponentWorldTransform(*this, componentName);
+  }
+
+  geom::Transform Actor::GetComponentRelativeTransform(const std::string componentName) const {
+    return GetEpisode().Lock()->GetActorComponentRelativeTransform(*this, componentName);
+  }
+
   void Actor::SetLocation(const geom::Location &location) {
     GetEpisode().Lock()->SetActorLocation(*this, location);
   }

LibCarla/source/carla/client/Actor.h

@@ -60,6 +60,10 @@ namespace client {
     /// acceleration calculated after the actor's velocity.
     geom::Vector3D GetAcceleration() const;
 
+    geom::Transform GetComponentWorldTransform(const std::string componentName) const;
+
+    geom::Transform GetComponentRelativeTransform(const std::string componentName) const;
+
     /// Teleport the actor to @a location.
     void SetLocation(const geom::Location &location);
 

LibCarla/source/carla/client/detail/Client.cpp

@@ -408,6 +408,14 @@ namespace detail {
     _pimpl->AsyncCall("add_actor_torque", actor, vector);
   }
 
+  geom::Transform Client::GetActorComponentWorldTransform(rpc::ActorId actor, const std::string componentName) {
+    return _pimpl->CallAndWait<geom::Transform>("get_actor_component_world_transform", actor, componentName);
+  }
+
+  geom::Transform Client::GetActorComponentRelativeTransform(rpc::ActorId actor, const std::string componentName) {
+    return _pimpl->CallAndWait<geom::Transform>("get_actor_component_relative_transform", actor, componentName);
+  }
+
   void Client::SetActorSimulatePhysics(rpc::ActorId actor, const bool enabled) {
     _pimpl->CallAndWait<void>("set_actor_simulate_physics", actor, enabled);
   }

LibCarla/source/carla/client/detail/Client.h

@@ -88,6 +88,7 @@ namespace detail {
 
     void DestroyTrafficManager(uint16_t port) const;
 
+
     void SetTimeout(time_duration timeout);
 
     time_duration GetTimeout() const;
@@ -232,6 +233,14 @@ namespace detail {
         rpc::ActorId actor,
         const geom::Vector3D &vector);
 
+    geom::Transform GetActorComponentWorldTransform(
+        rpc::ActorId actor,
+        const std::string componentName);
+
+    geom::Transform GetActorComponentRelativeTransform(
+        rpc::ActorId actor,
+        const std::string componentName);
+
     void SetActorSimulatePhysics(
         rpc::ActorId actor,
         bool enabled);

LibCarla/source/carla/client/detail/Simulator.h

@@ -438,6 +438,14 @@ namespace detail {
       return GetActorSnapshot(actor).acceleration;
     }
 
+    geom::Transform GetActorComponentWorldTransform(const Actor &actor, const std::string componentName) {
+      return _client.GetActorComponentWorldTransform(actor.GetId(), componentName);
+    }
+
+    geom::Transform GetActorComponentRelativeTransform(const Actor &actor, std::string componentName) {
+      return _client.GetActorComponentRelativeTransform(actor.GetId(), componentName);
+    }
+
     void SetActorLocation(Actor &actor, const geom::Location &location) {
       _client.SetActorLocation(actor.GetId(), location);
     }

PythonAPI/carla/source/libcarla/Actor.cpp

@@ -113,6 +113,8 @@ void export_actor() {
       .def("get_velocity", &cc::Actor::GetVelocity)
       .def("get_angular_velocity", &cc::Actor::GetAngularVelocity)
       .def("get_acceleration", &cc::Actor::GetAcceleration)
+      .def("get_component_world_transform", &cc::Actor::GetComponentWorldTransform, (arg("component_name")))
+      .def("get_component_relative_transform", &cc::Actor::GetComponentRelativeTransform, (arg("component_name")))
       .def("set_location", &cc::Actor::SetLocation, (arg("location")))
       .def("set_transform", &cc::Actor::SetTransform, (arg("transform")))
       .def("set_target_velocity", &cc::Actor::SetTargetVelocity, (arg("velocity")))

PythonAPI/examples/get_component_test.py

@@ -0,0 +1,34 @@
+import glob
+import os
+import sys
+
+try:
+    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
+        sys.version_info.major,
+        sys.version_info.minor,
+        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
+except IndexError:
+    pass
+
+
+# ==============================================================================
+# -- imports -------------------------------------------------------------------
+# ==============================================================================
+
+
+import carla
+
+client = carla.Client('localhost', 2000)
+world = client.get_world()
+
+location = carla.Location(200.0, 200.0, 200.0)
+rotation = carla.Rotation(0.0, 0.0, 0.0)
+transform = carla.Transform(location, rotation)
+
+bp_library = world.get_blueprint_library()
+bp_audi = bp_library.find('vehicle.audi.tt')
+audi = world.spawn_actor(bp_audi, transform)
+
+component_transform = audi.get_component_world_transform('front-blinker-r-1')
+print(component_transform)
+

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp

@@ -1274,6 +1274,94 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
     return R<void>::Success();
   };
 
+  BIND_SYNC(get_actor_component_world_transform) << [this](
+      cr::ActorId ActorId,
+      const std::string componentName) -> R<cr::Transform>
+  {
+    REQUIRE_CARLA_EPISODE();
+    FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
+    if (!CarlaActor)
+    {
+      return RespondError(
+          "get_actor_component_world_transform",
+          ECarlaServerResponse::ActorNotFound,
+          " Actor Id: " + FString::FromInt(ActorId));
+    }
+    else
+    {
+      TArray<UActorComponent*> Components;
+      CarlaActor->GetActor()->GetComponents(Components);
+
+      USceneComponent* Component;
+      for(auto Cmp : Components)
+      {
+        if(USceneComponent* SCMP = Cast<USceneComponent>(Cmp))
+        {
+          if(SCMP->GetName() == componentName.c_str())
+          {
+            Component = SCMP;
+            break;
+          }
+        }
+      }
+
+      if(!Component)
+      {
+        return RespondError(
+            "get_actor_component_world_transform",
+            ECarlaServerResponse::ComponentNotFound,
+            " Component Name: " + FString(componentName.c_str()));
+      }
+
+      FTransform ComponentWorldTransform = Component->GetComponentTransform();
+      return cr::Transform(ComponentWorldTransform);
+    }
+  };
+
+  BIND_SYNC(get_actor_component_relative_transform) << [this](
+      cr::ActorId ActorId,
+      const std::string componentName) -> R<cr::Transform>
+  {
+    REQUIRE_CARLA_EPISODE();
+    FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
+    if (!CarlaActor)
+    {
+      return RespondError(
+          "get_actor_component_relative_transform",
+          ECarlaServerResponse::ActorNotFound,
+          " Actor Id: " + FString::FromInt(ActorId));
+    }
+    else
+    {
+      TArray<UActorComponent*> Components;
+      CarlaActor->GetActor()->GetComponents(Components);
+
+      USceneComponent* Component;
+      for(auto Cmp : Components)
+      {
+        if(USceneComponent* SCMP = Cast<USceneComponent>(Cmp))
+        {
+          if(SCMP->GetName() == componentName.c_str())
+          {
+            Component = SCMP;
+            break;
+          }
+        }
+      }
+
+      if(!Component)
+      {
+        return RespondError(
+            "get_actor_component_world_transform",
+            ECarlaServerResponse::ComponentNotFound,
+            " Component Name: " + FString(componentName.c_str()));
+      }
+
+      FTransform ComponentRelativeTransform = Component->GetRelativeTransform();
+      return cr::Transform(ComponentRelativeTransform);
+    }
+  };
+
   BIND_SYNC(get_physics_control) << [this](
       cr::ActorId ActorId) -> R<cr::VehiclePhysicsControl>
   {

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServerResponse.cpp

@@ -14,6 +14,8 @@ FString CarlaGetStringError(ECarlaServerResponse Response)
       return "Sucess";
     case ECarlaServerResponse::ActorNotFound:
       return "Actor could not be found in the registry";
+    case ECarlaServerResponse::ComponentNotFound:
+      return "Component could not be found in this actor";
     case ECarlaServerResponse::ActorTypeMismatch:
       return "Actor does not match the expected type";
     case ECarlaServerResponse::MissingActor:

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServerResponse.h

@@ -10,6 +10,7 @@ enum class ECarlaServerResponse
 {
   Success,
   ActorNotFound,
+  ComponentNotFound,
   ActorTypeMismatch,
   FunctionNotSupported,
   NullActor,