Luis/extend spawn actor (#7154)

* Extended spawn_actor to accept a socket name and spawn the actor in the parents socket

* fix pr review

LibCarla/source/carla/client/World.cpp

@@ -119,17 +119,19 @@ namespace client {
       const ActorBlueprint &blueprint,
       const geom::Transform &transform,
       Actor *parent_actor,
-      rpc::AttachmentType attachment_type) {
+      rpc::AttachmentType attachment_type,
-    return _episode.Lock()->SpawnActor(blueprint, transform, parent_actor, attachment_type);
+      const std::string& socket_name) {
+    return _episode.Lock()->SpawnActor(blueprint, transform, parent_actor, attachment_type, GarbageCollectionPolicy::Inherit, socket_name);
   }
 
   SharedPtr<Actor> World::TrySpawnActor(
       const ActorBlueprint &blueprint,
       const geom::Transform &transform,
       Actor *parent_actor,
-      rpc::AttachmentType attachment_type) noexcept {
+      rpc::AttachmentType attachment_type,
+      const std::string& socket_name) noexcept {
     try {
-      return SpawnActor(blueprint, transform, parent_actor, attachment_type);
+      return SpawnActor(blueprint, transform, parent_actor, attachment_type, socket_name);
     } catch (const std::exception &) {
       return nullptr;
     }

LibCarla/source/carla/client/World.h

@@ -29,6 +29,7 @@
 #include "carla/rpc/Texture.h"
 #include "carla/rpc/MaterialParameter.h"
 
+#include <string>
 #include <boost/optional.hpp>
 
 namespace carla {
@@ -112,7 +113,8 @@ namespace client {
         const ActorBlueprint &blueprint,
         const geom::Transform &transform,
         Actor *parent = nullptr,
-        rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid);
+        rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid,
+        const std::string& socket_name = "");
 
     /// Same as SpawnActor but return nullptr on failure instead of throwing an
     /// exception.
@@ -120,7 +122,8 @@ namespace client {
         const ActorBlueprint &blueprint,
         const geom::Transform &transform,
         Actor *parent = nullptr,
-        rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid) noexcept;
+        rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid,
+        const std::string& socket_name = "") noexcept;
 
     /// Block calling thread until a world tick is received.
     WorldSnapshot WaitForTick(time_duration timeout) const;

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

@@ -326,11 +326,12 @@ namespace detail {
     return _pimpl->CallAndWait<rpc::Actor>("spawn_actor", description, transform);
   }
 
-  rpc::Actor Client::SpawnActorWithParent(
+    rpc::Actor Client::SpawnActorWithParent(
       const rpc::ActorDescription &description,
       const geom::Transform &transform,
       rpc::ActorId parent,
-      rpc::AttachmentType attachment_type) {
+      rpc::AttachmentType attachment_type,
+      const std::string& socket_name) {
 
       if (attachment_type == rpc::AttachmentType::SpringArm ||
           attachment_type == rpc::AttachmentType::SpringArmGhost)
@@ -348,7 +349,8 @@ namespace detail {
         description,
         transform,
         parent,
-        attachment_type);
+        attachment_type,
+        socket_name);
   }
 
   bool Client::DestroyActor(rpc::ActorId actor) {

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

@@ -179,7 +179,8 @@ namespace detail {
         const rpc::ActorDescription &description,
         const geom::Transform &transform,
         rpc::ActorId parent,
-        rpc::AttachmentType attachment_type);
+        rpc::AttachmentType attachment_type,
+        const std::string& socket_name = "");
 
     bool DestroyActor(rpc::ActorId actor);
 

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

@@ -342,19 +342,21 @@ EpisodeProxy Simulator::GetCurrentEpisode() {
   // -- General operations with actors -----------------------------------------
   // ===========================================================================
 
-  SharedPtr<Actor> Simulator::SpawnActor(
+    SharedPtr<Actor> Simulator::SpawnActor(
       const ActorBlueprint &blueprint,
       const geom::Transform &transform,
       Actor *parent,
       rpc::AttachmentType attachment_type,
-      GarbageCollectionPolicy gc) {
+      GarbageCollectionPolicy gc,
+      const std::string& socket_name) {
     rpc::Actor actor;
     if (parent != nullptr) {
       actor = _client.SpawnActorWithParent(
           blueprint.MakeActorDescription(),
           transform,
           parent->GetId(),
-          attachment_type);
+          attachment_type,
+          socket_name);
     } else {
       actor = _client.SpawnActor(
           blueprint.MakeActorDescription(),

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

@@ -357,7 +357,8 @@ namespace detail {
         const geom::Transform &transform,
         Actor *parent = nullptr,
         rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid,
-        GarbageCollectionPolicy gc = GarbageCollectionPolicy::Inherit);
+        GarbageCollectionPolicy gc = GarbageCollectionPolicy::Inherit,
+        const std::string& socket_name = "");
 
     bool DestroyActor(Actor &actor);
 

LibCarla/source/carla/rpc/Command.h

@@ -10,6 +10,7 @@
 #include "carla/MsgPackAdaptors.h"
 #include "carla/geom/Transform.h"
 #include "carla/rpc/ActorDescription.h"
+#include "carla/rpc/AttachmentType.h"
 #include "carla/rpc/ActorId.h"
 #include "carla/rpc/TrafficLightState.h"
 #include "carla/rpc/VehicleAckermannControl.h"
@@ -18,6 +19,8 @@
 #include "carla/rpc/VehicleLightState.h"
 #include "carla/rpc/WalkerControl.h"
 
+#include <string>
+
 #ifdef _MSC_VER
 #pragma warning(push)
 #pragma warning(disable:4583)
@@ -59,11 +62,19 @@ namespace rpc {
         : description(std::move(description)),
           transform(transform),
           parent(parent) {}
+      SpawnActor(ActorDescription description, const geom::Transform &transform, ActorId parent, AttachmentType attachment_type, const std::string& bone)
+        : description(std::move(description)),
+          transform(transform),
+          parent(parent),
+          attachment_type(attachment_type),
+          socket_name(bone) {}
       ActorDescription description;
       geom::Transform transform;
       boost::optional<ActorId> parent;
+      AttachmentType attachment_type;
+      std::string socket_name;
       std::vector<Command> do_after;
-      MSGPACK_DEFINE_ARRAY(description, transform, parent, do_after);
+      MSGPACK_DEFINE_ARRAY(description, transform, parent, attachment_type, socket_name, do_after);
     };
 
     struct DestroyActor : CommandBase<DestroyActor> {

PythonAPI/carla/source/libcarla/Commands.cpp

@@ -82,9 +82,15 @@ void export_commands() {
         "__init__",
         &command_impl::CustomSpawnActorInit<cc::ActorBlueprint, cg::Transform, ActorPtr>,
         (arg("blueprint"), arg("transform"), arg("parent")))
+    .def(
+        "__init__",
+        &command_impl::CustomSpawnActorInit<cc::ActorBlueprint, cg::Transform, ActorPtr, cr::AttachmentType, std::string>,
+        (arg("blueprint"), arg("transform"), arg("parent"), arg("attachment_type"), arg("socket_name")))
     .def(init<cr::Command::SpawnActor>())
     .def_readwrite("transform", &cr::Command::SpawnActor::transform)
     .def_readwrite("parent_id", &cr::Command::SpawnActor::parent)
+    .def_readwrite("attachment_type", &cr::Command::SpawnActor::attachment_type)
+    .def_readwrite("socket_name", &cr::Command::SpawnActor::socket_name)
     .def("then", &command_impl::Then, (arg("command")))
   ;
 

PythonAPI/carla/source/libcarla/World.cpp

@@ -11,6 +11,8 @@
 #include <carla/rpc/EnvironmentObject.h>
 #include <carla/rpc/ObjectLabel.h>
 
+#include <string>
+
 #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
 
 namespace carla {
@@ -293,15 +295,17 @@ void export_world() {
         const cc::ActorBlueprint &blueprint, \
         const cg::Transform &transform, \
         cc::Actor *parent, \
-        cr::AttachmentType attachment_type) { \
+        cr::AttachmentType attachment_type, \
+        const std::string& bone) { \
       carla::PythonUtil::ReleaseGIL unlock; \
-      return self.fn(blueprint, transform, parent, attachment_type); \
+      return self.fn(blueprint, transform, parent, attachment_type, bone); \
     }, \
     ( \
       arg("blueprint"), \
       arg("transform"), \
       arg("attach_to")=carla::SharedPtr<cc::Actor>(), \
-      arg("attachment_type")=cr::AttachmentType::Rigid)
+      arg("attachment_type")=cr::AttachmentType::Rigid, \
+      arg("bone")=std::string())
 
   class_<cc::World>("World", no_init)
     .add_property("id", &cc::World::GetId)

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp

@@ -294,11 +294,12 @@ carla::rpc::Actor UCarlaEpisode::SerializeActor(AActor* Actor) const
 void UCarlaEpisode::AttachActors(
     AActor *Child,
     AActor *Parent,
-    EAttachmentType InAttachmentType)
+    EAttachmentType InAttachmentType,
+    const FString& SocketName)
 {
   Child->AddActorWorldOffset(FVector(CurrentMapOrigin));
 
-  UActorAttacher::AttachActors(Child, Parent, InAttachmentType);
+  UActorAttacher::AttachActors(Child, Parent, InAttachmentType, SocketName);
 
   if (bIsPrimaryServer)
   {

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h

@@ -245,7 +245,8 @@ public:
   void AttachActors(
       AActor *Child,
       AActor *Parent,
-      EAttachmentType InAttachmentType = EAttachmentType::Rigid);
+      EAttachmentType InAttachmentType = EAttachmentType::Rigid,
+      const FString& SocketName = "");
 
   /// @copydoc FActorDispatcher::DestroyActor(AActor*)
   UFUNCTION(BlueprintCallable)

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

@@ -711,7 +711,8 @@ void FCarlaServer::FPimpl::BindActions()
       cr::ActorDescription Description,
       const cr::Transform &Transform,
       cr::ActorId ParentId,
-      cr::AttachmentType InAttachmentType) -> R<cr::Actor>
+      cr::AttachmentType InAttachmentType,
+      const std::string& socket_name) -> R<cr::Actor>
   {
     REQUIRE_CARLA_EPISODE();
 
@@ -765,7 +766,8 @@ void FCarlaServer::FPimpl::BindActions()
       Episode->AttachActors(
           CarlaActor->GetActor(),
           ParentCarlaActor->GetActor(),
-          static_cast<EAttachmentType>(InAttachmentType));
+          static_cast<EAttachmentType>(InAttachmentType),
+          FString(socket_name.c_str()));
     }
     else
     {
@@ -2761,7 +2763,8 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
             c.description,
             c.transform,
             *c.parent,
-            cr::AttachmentType::Rigid) :
+            cr::AttachmentType::Rigid,
+            c.socket_name) :
         spawn_actor(c.description, c.transform);
         if (!result.HasError())
         {

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.cpp

@@ -96,7 +96,8 @@ static void UActorAttacher_AttachActorsWithSpringArmGhost(
 void UActorAttacher::AttachActors(
     AActor *Child,
     AActor *Parent,
-    const EAttachmentType AttachmentType)
+    const EAttachmentType AttachmentType,
+    const FString& SocketName)
 {
   check(Child != nullptr);
   check(Parent != nullptr);
@@ -104,7 +105,7 @@ void UActorAttacher::AttachActors(
   switch (AttachmentType)
   {
     case EAttachmentType::Rigid:
-      Child->AttachToActor(Parent, FAttachmentTransformRules::KeepRelativeTransform);
+      Child->AttachToActor(Parent, FAttachmentTransformRules::KeepRelativeTransform, FName(*SocketName));
       break;
     case EAttachmentType::SpringArm:
       UActorAttacher_AttachActorsWithSpringArm(Child, Parent);

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.h

@@ -42,5 +42,5 @@ class CARLA_API UActorAttacher : public UBlueprintFunctionLibrary
 public:
 
   UFUNCTION(BlueprintCallable, Category="CARLA|Actor Attacher")
-  static void AttachActors(AActor *Child, AActor *Parent, EAttachmentType AttachmentType);
+  static void AttachActors(AActor *Child, AActor *Parent, EAttachmentType AttachmentType, const FString& SocketName = "");
 };