diff --git a/carla_ros_bridge/CMakeLists.txt b/carla_ros_bridge/CMakeLists.txt deleted file mode 100644 index 3cca17ec7..000000000 --- a/carla_ros_bridge/CMakeLists.txt +++ /dev/null @@ -1,200 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(carla_ros_bridge) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - rospy - sensor_msgs - tf -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# sensor_msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a run_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES carla_ros_bridge -# CATKIN_DEPENDS rospy sensor_msgs tf -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/carla_ros_bridge.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/carla_ros_bridge_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) - install(FILES - client.launch - client_with_rviz.launch - test/ros_bridge_client.test - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} - ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_carla_ros_bridge.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/carla_ros_bridge/Readme.md b/carla_ros_bridge/Readme.md deleted file mode 100644 index cccb2587d..000000000 --- a/carla_ros_bridge/Readme.md +++ /dev/null @@ -1,163 +0,0 @@ - -# Ros bridge for Carla simulator - -This ros package aims at providing a simple ros bridge for carla simulator. - -![rviz setup](./assets/rviz_carla_default.png "rviz") -![depthcloud](./assets/depth_cloud_and_lidar.png "depthcloud") - -![short video](https://youtu.be/S_NoN2GBtdY) - - -# Features - -- [x] Cameras (depth, segmentation, rgb) support -- [x] Add camera matrix -- [x] Lidar sensor support -- [x] Transform publications -- [x] Manual control using ackermann msg -- [x] Autopilot mode using rosparam -- [x] Rosbag in the bridge (in order to avoid rosbag recoard -a small time errors) -- [x] Handle ros dependencies -- [x] Marker/bounding box messages for cars/pedestrian -- [ ] Add traffic light support -- [ ] Support dynamic change (restarting simulation using a topic/rosparam) - - -# Setup - -## Create a catkin workspace and install carla_ros_bridge package - -### Create the catkin workspace: - - mkdir -p ~/ros/catkin_ws_for_carla/src - cd ~/ros/catkin_ws_for_carla - source /opt/ros/kinetic/setup.bash - catkin_make - source ~/ros/catkin_ws_for_carla/devel/setup.bash - -For more information about configuring a ros environment see -http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment - -## Install carla python client in your workspace - - cd carla/Deprecated/PythonClient - pip2 install -e . --user --upgrade - -Check the installation is successfull by trying to import carla from python: - - python -c 'import carla;print("Success")' - -You should see the Success message without any errors. - -### Install recent protobuf version [optional] - - sudo apt-get remove python-protobuf - sudo pip2 install --upgrade protobuf - - -### Add the carla_ros_bridge in the catkin workspace - -Run the following command after replacing [PATH_TO_CARLA] with the actual path to carla directory on your machine: - - ln -s [PATH_TO_CARLA]/carla_ros_bridge/ ~/ros/catkin_ws_for_carla/src/ - source ~/ros/catkin_ws_for_carla/devel/setup.bash - rosdep update - rosdep install --from-paths ~/ros/catkin_ws_for_carla - cd ~/ros/catkin_ws_for_carla - catkin_make - source ~/ros/catkin_ws_for_carla/devel/setup.bash - - -### Test your installation - -If you use the builded binary (0.8.2): - - ./CarlaUE4.sh -carla-server -windowed -ResX=320 -ResY=240 - - -Wait for the message: - - Waiting for the client to connect... - -Then run the tests - - rostest carla_ros_bridge ros_bridge_client.test - -you should see: - - [carla_ros_bridge.rosunit-testTopics/test_publish][passed] - - SUMMARY - * RESULT: SUCCESS - - - -# Start the ros bridge - -First run the simulator (see carla documentation: http://carla.readthedocs.io/en/latest/) - - ./CarlaUE4 -carla-server -windowed -ResX=320 -ResY=240 - - -Wait for the message: - - Waiting for the client to connect... - -Then start the ros bridge: - - source ~/ros/catkin_ws_for_carla/devel/setup.bash - roslaunch carla_ros_bridge client.launch - -To start the ros bridge with rviz use: - - roslaunch carla_ros_bridge client_with_rviz.launch - -You can setup the wanted camera/sensors in config/settings.yaml. - -# Autopilot control - -To enable autopilot control set the ros param carla_autopilot to True - - rosparam set carla_autopilot True - -# Manual control - -To enable manual control set the ros param carla_autopilot to False - - rosparam set carla_autopilot False - - -Then you can send command to the car using the /ackermann_cmd topic. - -Example of forward movements, speed in in meters/sec. - - rostopic pub /ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, - jerk: 0.0}" -r 10 - - -Example of forward with steering - - rostopic pub /ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 5.41, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, - jerk: 0.0}" -r 10 - - Warning: the steering_angle is the driving angle (in radians) not the wheel angle, for now max wheel is set to 500 degrees. - - -Example for backward : - - rostopic pub /ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0, steering_angle_velocity: 0.0, speed: -10, acceleration: 0.0, - jerk: 0.0}" -r 10 - - -# ROSBAG recording - -The carla_ros_bridge could also be used to record all published topics into a rosbag: - - roslaunch carla_ros_bridge client_with_rviz.launch rosbag_fname:=/tmp/save_session.bag - -This command will create a rosbag /tmp/save_session.bag - -You can of course also use rosbag record to do the same, but using the ros_bridge to do the recording you have the guarentee that all the message are saved without small desynchronization that could occurs when using *rosbag record* in an other process. - - diff --git a/carla_ros_bridge/assets/depth_cloud_and_lidar.png b/carla_ros_bridge/assets/depth_cloud_and_lidar.png deleted file mode 100644 index 25cecc8a6..000000000 Binary files a/carla_ros_bridge/assets/depth_cloud_and_lidar.png and /dev/null differ diff --git a/carla_ros_bridge/assets/rviz_carla_default.png b/carla_ros_bridge/assets/rviz_carla_default.png deleted file mode 100644 index 64e54ae1a..000000000 Binary files a/carla_ros_bridge/assets/rviz_carla_default.png and /dev/null differ diff --git a/carla_ros_bridge/client.launch b/carla_ros_bridge/client.launch deleted file mode 100644 index 856cca674..000000000 --- a/carla_ros_bridge/client.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/carla_ros_bridge/client_with_rviz.launch b/carla_ros_bridge/client_with_rviz.launch deleted file mode 100644 index a4e47815c..000000000 --- a/carla_ros_bridge/client_with_rviz.launch +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/carla_ros_bridge/config/carla_default_rviz.cfg.rviz b/carla_ros_bridge/config/carla_default_rviz.cfg.rviz deleted file mode 100644 index 69b8e343a..000000000 --- a/carla_ros_bridge/config/carla_default_rviz.cfg.rviz +++ /dev/null @@ -1,263 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 102 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /DepthCloud1/Auto Size1 - Splitter Ratio: 0.5 - Tree Height: 332 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679016 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: true - Name: Time - SyncMode: 0 - SyncSource: Front_cam - - Class: rviz/Displays - Help Height: 0 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /non_player_vehicles1 - - /DepthCloud1/Auto Size1 - Splitter Ratio: 0.494356662 - Tree Height: 181 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.100000001 - Cell Size: 1 - Class: rviz/Grid - Color: 170; 164; 162 - Enabled: true - Line Style: - Line Width: 0.0299999993 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 1000 - Reference Frame: map - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /camera_front/image_raw - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Front_cam - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /camera_depth/image_raw - Max Value: 30 - Median window: 5 - Min Value: 0 - Name: Depth - Normalize Range: false - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /vehicles - Name: non_player_vehicles - Namespaces: - "": true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /player_vehicle - Name: Marker - Namespaces: - "": true - Queue Size: 100 - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.00999999978 - Style: Flat Squares - Topic: /lidar_0 - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Auto Size: - Auto Size Factor: 1 - Value: true - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/DepthCloud - Color: 255; 255; 255 - Color Image Topic: /camera_front/image_raw - Color Transformer: RGB8 - Color Transport Hint: raw - Decay Time: 0 - Depth Map Topic: /camera_depth/image_raw - Depth Map Transport Hint: raw - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: DepthCloud - Occlusion Compensation: - Occlusion Time-Out: 30 - Value: false - Position Transformer: XYZ - Queue Size: 5 - Selectable: true - Size (Pixels): 3 - Style: Flat Squares - Topic Filter: false - 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 - Default Light: true - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/ThirdPersonFollower - Distance: 31.8610725 - Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 6.99974823 - Y: 0.798863649 - Z: 2.89677428e-06 - Focal Shape Fixed Size: false - Focal Shape Size: 0.0500000007 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 0.185203522 - Target Frame: base_link - Value: ThirdPersonFollower (rviz) - Yaw: 3.50356174 - Saved: - - Class: rviz/FPS - Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Invert Z Axis: false - Name: FPS - Near Clip Distance: 0.00999999978 - Pitch: 0.984796941 - Position: - X: 48.1403351 - Y: -258.651123 - Z: 284.474243 - Target Frame: base_link - Value: FPS (rviz) - Yaw: 1.52198112 -Window Geometry: - Depth: - collapsed: false - Displays: - collapsed: false - Front_cam: - collapsed: false - Height: 994 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1680 - X: 49 - Y: 30 diff --git a/carla_ros_bridge/config/setting_focus_on_player.yaml b/carla_ros_bridge/config/setting_focus_on_player.yaml deleted file mode 100644 index 4321c2370..000000000 --- a/carla_ros_bridge/config/setting_focus_on_player.yaml +++ /dev/null @@ -1,97 +0,0 @@ -# carla original variable name is used unchanged here (i.e CamelCase, etc) -carla: - host: localhost - port: 2000 - QualityLevel: Low # Low or Epic - SynchronousMode: True - - sensors: - CameraRGB: - SensorType: CAMERA - carla_settings: - PostProcessing: SceneFinal - ImageSizeX: 800 - ImageSizeY: 600 - FOV: 90 - PositionX: -5.00 - PositionY: 0 - PositionZ: 1.30 - RotationPitch: 0 - RotationRoll: 0 - RotationYaw: 0 - - camera_depth: - SensorType: CAMERA - carla_settings: - PostProcessing: Depth - ImageSizeX: 800 - ImageSizeY: 600 - FOV: 90 - PositionX: -5.00 - PositionY: 0 - PositionZ: 1.30 - RotationPitch: 0 - RotationRoll: 0 - RotationYaw: 0 - - camera_depth_front: - SensorType: CAMERA - carla_settings: - PostProcessing: Depth - ImageSizeX: 800 - ImageSizeY: 600 - FOV: 90 - PositionX: 7.00 - PositionY: 0 - PositionZ: 1.30 - RotationPitch: 0 - RotationRoll: 0 - RotationYaw: 180 - - CameraRGB_front: - SensorType: CAMERA - carla_settings: - PostProcessing: SceneFinal - ImageSizeX: 800 - ImageSizeY: 600 - FOV: 90 - PositionX: 7.00 - PositionY: 0 - PositionZ: 1.30 - RotationPitch: 0 - RotationRoll: 0 - RotationYaw: 180 - - - - - #camera_semantic_segmentation: - # SensorType: CAMERA - # carla_settings: - # PostProcessing: SemanticSegmentation - # ImageSizeX: 800 - # ImageSizeY: 600 - # FOV: 90 - # PositionX: 0.00 - # PositionY: 0 - # PositionZ: 1.30 - # RotationPitch: 0 - # RotationRoll: 0 - # RotationYaw: 0 - - - lidar_0: - SensorType: LIDAR_RAY_CAST - carla_settings: - Channels: 4 - Range: 120 - PointsPerSecond: 200000 - RotationFrequency: 25 - UpperFovLimit: 1.6 - LowerFovLimit: -1.6 - PositionX: 0.0 - PositionY: 0 - PositionZ: 1.50 - RotationPitch: 0 - RotationYaw: 0 - RotationRoll: 0 diff --git a/carla_ros_bridge/config/settings.yaml b/carla_ros_bridge/config/settings.yaml deleted file mode 100644 index 435a1950c..000000000 --- a/carla_ros_bridge/config/settings.yaml +++ /dev/null @@ -1,57 +0,0 @@ -carla: - host: localhost - port: 2000 - QualityLevel: Low # Low or Epic - SynchronousMode: True - SendNonPlayerAgentsInfo: True - NumberOfVehicles: 30 - NumberOfPedestrians: 10 - WeatherId: 1 - Framesperepisode: -1 # -1: run episode indefinitely until interrupted - Episodes: 2 - - sensors: - camera_front: - SensorType: CAMERA - carla_settings: - PostProcessing: SceneFinal - ImageSizeX: 320 - ImageSizeY: 240 - FOV: 90 - PositionX: 1.80 - PositionY: 0 - PositionZ: 1.30 - RotationPitch: 0 - RotationRoll: 0 - RotationYaw: 0 - - camera_depth: - SensorType: CAMERA - carla_settings: - PostProcessing: Depth - ImageSizeX: 320 - ImageSizeY: 240 - FOV: 90 - PositionX: 1.80 - PositionY: 0 - PositionZ: 1.30 - RotationPitch: 0 - RotationRoll: 0 - RotationYaw: 0 - -# Uncomment the following lines if you want to enable lidar publication -# lidar_0: -# SensorType: LIDAR_RAY_CAST -# carla_settings: -# Channels: 4 -# Range: 120 -# PointsPerSecond: 200000 -# RotationFrequency: 25 -# UpperFovLimit: 1.6 -# LowerFovLimit: -1.6 -# PositionX: 0.0 -# PositionY: 0 -# PositionZ: 1.50 -# RotationPitch: 0 -# RotationYaw: 0 -# RotationRoll: 0 diff --git a/carla_ros_bridge/package.xml b/carla_ros_bridge/package.xml deleted file mode 100644 index 89bc56a61..000000000 --- a/carla_ros_bridge/package.xml +++ /dev/null @@ -1,75 +0,0 @@ - - - carla_ros_bridge - 0.0.1 - The carla_ros_bridge package - - - - - lgeorge - - - - - - MIT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - rospy - sensor_msgs - tf - rospy - sensor_msgs - tf - rospy - sensor_msgs - tf - tf2 - rviz - ackermann_msgs - cv_bridge - geometry_msgs - std_msgs - rosbag_storage - - - - - - - - diff --git a/carla_ros_bridge/setup.py b/carla_ros_bridge/setup.py deleted file mode 100644 index a1e5f51fb..000000000 --- a/carla_ros_bridge/setup.py +++ /dev/null @@ -1,10 +0,0 @@ -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup - -d = generate_distutils_setup( - packages=['carla_ros_bridge'], - package_dir={'': 'src'} -) - -setup(**d) - diff --git a/carla_ros_bridge/src/carla_ros_bridge/__init__.py b/carla_ros_bridge/src/carla_ros_bridge/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge.py b/carla_ros_bridge/src/carla_ros_bridge/bridge.py deleted file mode 100755 index 4c8cd2979..000000000 --- a/carla_ros_bridge/src/carla_ros_bridge/bridge.py +++ /dev/null @@ -1,184 +0,0 @@ -""" -Rosbridge class: - -Class that handle communication between CARLA and ROS -""" -import random -from itertools import count - -from rosgraph_msgs.msg import Clock -from tf2_msgs.msg import TFMessage -import rospy - -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): - """ - Carla Ros bridge - """ - - def __init__(self, client, params): - """ - - :param params: dict of parameters, see settings.yaml - :param rate: rate to query data from carla in Hz - """ - self.setup_carla_client(client=client, params=params) - self.frames_per_episode = params['Framesperepisode'] - - self.tf_to_publish = [] - self.msgs_to_publish = [] - self.publishers = {} - - # definitions useful for time - self.cur_time = rospy.Time.from_sec( - 0) # at the beginning of simulation - self.carla_game_stamp = 0 - self.carla_platform_stamp = 0 - - # creating handler to handle vehicles messages - self.player_handler = PlayerAgentHandler( - "player_vehicle", process_msg_fun=self.process_msg) - self.non_players_handler = NonPlayerAgentsHandler( - "vehicles", process_msg_fun=self.process_msg) - - # creating handler for sensors - self.sensors = {} - for name, _ in self.param_sensors.items(): - self.add_sensor(name) - - # creating input controller listener - self.input_controller = InputController() - - def setup_carla_client(self, client, params): - self.client = client - self.param_sensors = params.get('sensors', {}) - self.carla_settings = CarlaSettings() - self.carla_settings.set( - SendNonPlayerAgentsInfo=params.get('SendNonPlayerAgentsInfo', True), - NumberOfVehicles=params.get('NumberOfVehicles', 20), - NumberOfPedestrians=params.get('NumberOfPedestrians', 40), - WeatherId=params.get('WeatherId', random.choice([1, 3, 7, 8, 14])), - SynchronousMode=params.get('SynchronousMode', True), - QualityLevel=params.get('QualityLevel', 'Low') - ) - self.carla_settings.randomize_seeds() - - def add_sensor(self, name): - rospy.loginfo("Adding sensor {}".format(name)) - sensor_type = self.param_sensors[name]['SensorType'] - params = self.param_sensors[name]['carla_settings'] - sensor_handler = None - if sensor_type == 'LIDAR_RAY_CAST': - sensor_handler = LidarHandler - if sensor_type == 'CAMERA': - sensor_handler = CameraHandler - if sensor_handler: - self.sensors[name] = sensor_handler( - name, - params, - carla_settings=self.carla_settings, - process_msg_fun=self.process_msg) - else: - rospy.logerr( - "Unable to handle sensor {name} of type {sensor_type}".format( - sensor_type=sensor_type, name=name)) - - def on_shutdown(self): - rospy.loginfo("Shutdown requested") - - def process_msg(self, topic=None, msg=None): - """ - Function used to process message - - Here we create publisher if not yet created - Store the message in a list (waiting for their publication) with their associated publisher - - Messages for /tf topics are handle differently in order to publish all transform in the same message - :param topic: topic to publish the message on - :param msg: ros message - """ - if topic not in self.publishers: - if topic == 'tf': - self.publishers[topic] = rospy.Publisher( - topic, TFMessage, queue_size=100) - else: - self.publishers[topic] = rospy.Publisher( - topic, type(msg), queue_size=10) - - if topic == 'tf': - # transform are merged in same message - self.tf_to_publish.append(msg) - else: - self.msgs_to_publish.append((self.publishers[topic], msg)) - - def send_msgs(self): - for publisher, msg in self.msgs_to_publish: - publisher.publish(msg) - self.msgs_to_publish = [] - - tf_msg = TFMessage(self.tf_to_publish) - self.publishers['tf'].publish(tf_msg) - self.tf_to_publish = [] - - def compute_cur_time_msg(self): - self.process_msg('clock', Clock(self.cur_time)) - - def run(self): - self.publishers['clock'] = rospy.Publisher( - "clock", Clock, queue_size=10) - - # load settings into the server - scene = self.client.load_settings(self.carla_settings) - # Choose one player start at random. - 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(): - if (frame == self.frames_per_episode) or rospy.is_shutdown(): - break - measurements, sensor_data = self.client.read_data() - - # handle time - self.carla_game_stamp = measurements.game_timestamp - self.cur_time = rospy.Time.from_sec(self.carla_game_stamp * 1e-3) - self.compute_cur_time_msg() - - # handle agents - self.player_handler.process_msg( - measurements.player_measurements, cur_time=self.cur_time) - self.non_players_handler.process_msg( - measurements.non_player_agents, cur_time=self.cur_time) - - # handle sensors - for name, data in sensor_data.items(): - self.sensors[name].process_sensor_data(data, self.cur_time) - - # publish all messages - self.send_msgs() - - # handle control - if rospy.get_param('carla_autopilot', True): - control = measurements.player_measurements.autopilot_control - self.client.send_control(control) - else: - control = self.input_controller.cur_control - self.client.send_control(**control) - - def __enter__(self): - return self - - def __exit__(self, exc_type, exc_val, exc_tb): - rospy.loginfo("Exiting Bridge") - return None diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py b/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py deleted file mode 100644 index 997f39ffa..000000000 --- a/carla_ros_bridge/src/carla_ros_bridge/bridge_with_rosbag.py +++ /dev/null @@ -1,40 +0,0 @@ -""" -RosBridge class with rosbag support -""" - -import time -from datetime import datetime - -from tf2_msgs.msg import TFMessage -import rosbag -import rospy -import os - -from carla_ros_bridge.bridge import CarlaRosBridge - - -class CarlaRosBridgeWithBag(CarlaRosBridge): - def __init__(self, *args, **kwargs): - super(CarlaRosBridgeWithBag, self).__init__(*args, **kwargs) - - prefix, ext = os.path.splitext(rospy.get_param('rosbag_fname')) - rosbag_fname = os.path.abspath(prefix + rospy.get_param('curr_episode')) - self.bag = rosbag.Bag(rosbag_fname, mode='w') - - def send_msgs(self): - for publisher, msg in self.msgs_to_publish: - self.bag.write(publisher.name, msg, self.cur_time) - - tf_msg = TFMessage(self.tf_to_publish) - self.bag.write('tf', tf_msg, self.cur_time) - - super(CarlaRosBridgeWithBag, self).send_msgs() - - def __enter__(self): - return self - - def __exit__(self, exc_type, exc_value, traceback): - rospy.loginfo("Closing the bag file") - self.bag.close() - super(CarlaRosBridgeWithBag, self).__exit__(exc_type, exc_value, - traceback) diff --git a/carla_ros_bridge/src/carla_ros_bridge/client.py b/carla_ros_bridge/src/carla_ros_bridge/client.py deleted file mode 100755 index a6caa6b51..000000000 --- a/carla_ros_bridge/src/carla_ros_bridge/client.py +++ /dev/null @@ -1,42 +0,0 @@ -#!/usr/bin/env python -""" -Ros Bridge node for carla simulator -""" - -import rospy - -from carla.client import make_carla_client -from carla_ros_bridge.bridge import CarlaRosBridge -from carla_ros_bridge.bridge_with_rosbag import CarlaRosBridgeWithBag - - -def main(): - rospy.init_node("carla_client", anonymous=True) - - params = rospy.get_param('carla') - host = params['host'] - port = params['port'] - num_episodes = params['Episodes'] - - rospy.loginfo("Trying to connect to {host}:{port}".format( - host=host, port=port)) - - with make_carla_client(host, port) as client: - rospy.loginfo("Connected") - - for episode in range(0, num_episodes): - if rospy.is_shutdown(): - break - rospy.loginfo("Starting Episode --> {}".format(episode)) - current_eps = '_episode' + '_' + str(episode) - rospy.set_param(param_name='curr_episode', - param_value=current_eps) - bridge_cls = CarlaRosBridgeWithBag if rospy.get_param( - 'rosbag_fname', '') else CarlaRosBridge - with bridge_cls(client=client, params=params) as carla_ros_bridge: - rospy.on_shutdown(carla_ros_bridge.on_shutdown) - carla_ros_bridge.run() - - -if __name__ == "__main__": - main() diff --git a/carla_ros_bridge/src/carla_ros_bridge/control.py b/carla_ros_bridge/src/carla_ros_bridge/control.py deleted file mode 100644 index 5b7b0581f..000000000 --- a/carla_ros_bridge/src/carla_ros_bridge/control.py +++ /dev/null @@ -1,68 +0,0 @@ -""" -Class to handle control input -""" - -import math -import numpy as np -import rospy - -from ackermann_msgs.msg import AckermannDrive - - -class InputController(object): - """ - Class to handle ros input command - - Each time a ros control msg (an ackermann_cmd msg) is received on control topic, a carla control message is - computed. - """ - - def __init__(self, topic_name='/ackermann_cmd'): - # current control command - self.cur_control = { - 'steer': 0.0, - 'throttle': 0.0, - 'brake': 0.0, - 'hand_brake': False, - 'reverse': False - } - - self.cmd_vel_subscriber = rospy.Subscriber( - '/ackermann_cmd', AckermannDrive, self.set_control_cmd_callback) - - def set_control_cmd_callback(self, data): - """ - Convert a Ackerman drive msg into carla control msg - - Right now the control is really simple and don't enforce acceleration and jerk command, nor the steering acceleration too - :param data: AckermannDrive msg - :return: - """ - steering_angle_ctrl = data.steering_angle - speed_ctrl = data.speed - - max_steering_angle = math.radians( - 500 - ) # 500 degrees is the max steering angle that I have on my car, - # would be nice if we could use the value provided by carla - max_speed = 27 # just a value for me, 27 m/sec seems to be a reasonable max speed for now - - control = {} - - if abs(steering_angle_ctrl) > max_steering_angle: - rospy.logerr("Max steering angle reached, clipping value") - steering_angle_ctrl = np.clip( - steering_angle_ctrl, -max_steering_angle, max_steering_angle) - - if abs(speed_ctrl) > max_speed: - rospy.logerr("Max speed reached, clipping value") - speed_ctrl = np.clip(speed_ctrl, -max_speed, max_speed) - - if speed_ctrl == 0: - control['brake'] = True - - control['steer'] = steering_angle_ctrl / max_steering_angle - control['throttle'] = abs(speed_ctrl / max_speed) - control['reverse'] = True if speed_ctrl < 0 else False - - self.cur_control = control diff --git a/carla_ros_bridge/src/carla_ros_bridge/map.py b/carla_ros_bridge/src/carla_ros_bridge/map.py deleted file mode 100755 index 33830951b..000000000 --- a/carla_ros_bridge/src/carla_ros_bridge/map.py +++ /dev/null @@ -1,58 +0,0 @@ -""" -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) diff --git a/carla_ros_bridge/src/carla_ros_bridge/markers.py b/carla_ros_bridge/src/carla_ros_bridge/markers.py deleted file mode 100644 index 8a3d72f51..000000000 --- a/carla_ros_bridge/src/carla_ros_bridge/markers.py +++ /dev/null @@ -1,170 +0,0 @@ -""" -Classes to handle Agent object (player and non-player) -""" - -from geometry_msgs.msg import TransformStamped -from nav_msgs.msg import Odometry -from std_msgs.msg import Header -from visualization_msgs.msg import MarkerArray, Marker - -from carla.sensor import Transform as carla_Transform -from carla_ros_bridge.transforms import carla_transform_to_ros_transform, ros_transform_to_pose - - -class AgentObjectHandler(object): - """ - Generic class to convert carla agent information to ros messages - In ros messages are represented as Marker message (thus they are viewable in Rviz). - """ - - def __init__(self, name, process_msg_fun=None, world_link='map'): - self.name = name - self.world_link = world_link - self.process_msg_fun = process_msg_fun - self.lookup_table_marker_id = {} - - def process_msg(self, data, cur_time): - """ - - :param data: carla agent data - :param cur_time: current ros simulation time - :return: - """ - raise NotImplemented - - def get_marker_id(self, agent_id): - """ - Return a unique marker id for each agent - - ros marker id should be int32, carla/unrealengine seems to use int64 - A lookup table is used to remap agent_id to small number between 0 and max_int32 - - :param agent_id: - :return: - """ - if agent_id not in self.lookup_table_marker_id: - self.lookup_table_marker_id[agent_id] = len( - self.lookup_table_marker_id) - return self.lookup_table_marker_id[agent_id] - - -class PlayerAgentHandler(AgentObjectHandler): - """ - Convert player agent into ros message (as marker and odometry) - """ - - def __init__(self, name, **kwargs): - super(PlayerAgentHandler, self).__init__(name, **kwargs) - - def process_msg(self, data, cur_time): - t = TransformStamped() - t.header.stamp = cur_time - t.header.frame_id = self.world_link - t.child_frame_id = "base_link" - t.transform = carla_transform_to_ros_transform( - carla_Transform(data.transform)) - header = Header() - header.stamp = cur_time - header.frame_id = self.world_link - marker = get_vehicle_marker( - data, header=header, marker_id=0, is_player=True) - self.process_msg_fun(self.name, marker) - self.process_msg_fun('tf', t) - # forming an odometry message - odometry = get_vehicle_odometry( - data, header=header) - self.process_msg_fun('player_odometry', odometry) - - -class NonPlayerAgentsHandler(AgentObjectHandler): - """ - Convert non-player agents into ros messages - """ - - def __init__(self, name, **kwargs): - super(NonPlayerAgentsHandler, self).__init__(name, **kwargs) - - def process_msg(self, data, cur_time): - """ - :param data: list of carla_server_pb2.Agent return by carla API, - with field 'id', 'vehicle', 'pedestrian', 'traffic_light', 'speed_limit_sign' - - :return: - """ - vehicles = [(self.get_marker_id(agent.id), agent.vehicle) - for agent in data if agent.HasField('vehicle')] - - header = Header(stamp=cur_time, frame_id=self.world_link) - if not (vehicles): - return - markers = [ - get_vehicle_marker(vehicle, header, agent_id) - for agent_id, vehicle in vehicles - ] - marker_array = MarkerArray(markers) - self.process_msg_fun('vehicles', marker_array) - - -def get_vehicle_marker(object, header, marker_id=0, is_player=False): - """ - Return a marker msg - - :param object: carla agent object (pb2 object (vehicle, pedestrian or traffic light)) - :param header: ros header (stamp/frame_id) - :param marker_id: a marker id (int32) - :param is_player: True if player else False (usefull to change marker color) - :return: a ros marker msg - """ - marker = Marker(header=header) - marker.color.a = 0.3 - if is_player: - marker.color.g = 1 - marker.color.r = 0 - marker.color.b = 0 - else: - marker.color.r = 1 - marker.color.g = 0 - marker.color.b = 0 - - marker.id = marker_id - marker.text = "id = {}".format(marker_id) - update_marker_pose(object, marker) - - return marker - - -def update_marker_pose(object, base_marker): - """ - Update pose of a marker based on carla information - - :param object: pb2 carla object - :param base_marker: marker to update pose - """ - ros_transform = carla_transform_to_ros_transform( - carla_Transform(object.bounding_box.transform) * - carla_Transform(object.transform)) - base_marker.pose = ros_transform_to_pose(ros_transform) - - base_marker.scale.x = object.bounding_box.extent.x * 2.0 - base_marker.scale.y = object.bounding_box.extent.y * 2.0 - base_marker.scale.z = object.bounding_box.extent.z * 2.0 - - base_marker.type = Marker.CUBE - - -def get_vehicle_odometry(object, header): - """ - Return an odometry msg - - :param object: carla agent object (pb2 object (vehicle, pedestrian or traffic light)) - :param header: ros header (stamp/frame_id) - :return: a ros odometry msg - """ - ros_transform = carla_transform_to_ros_transform( - carla_Transform(object.transform)) - - odometry = Odometry(header=header) - odometry.child_frame_id = "base_link" - odometry.pose.pose = ros_transform_to_pose(ros_transform) - - return odometry diff --git a/carla_ros_bridge/src/carla_ros_bridge/sensors.py b/carla_ros_bridge/src/carla_ros_bridge/sensors.py deleted file mode 100644 index 5e90cae43..000000000 --- a/carla_ros_bridge/src/carla_ros_bridge/sensors.py +++ /dev/null @@ -1,211 +0,0 @@ -""" -Classes to handle Carla sensors -""" -import math -import numpy as np -import tf - -from cv_bridge import CvBridge -from geometry_msgs.msg import TransformStamped -from sensor_msgs.msg import CameraInfo -from sensor_msgs.point_cloud2 import create_cloud_xyz32 -from std_msgs.msg import Header - -from carla.sensor import Camera, Lidar, Sensor -from carla_ros_bridge.transforms import carla_transform_to_ros_transform - -cv_bridge = CvBridge( -) # global cv bridge to convert image between opencv and ros - - -class SensorHandler(object): - """ - Generic Sensor Handler - - A sensor handler compute the associated ros message to a carla sensor data, and the transform asssociated to the - sensor. - These messages are passed to a *process_msg_fun* which will take care of publishing them. - """ - - def __init__(self, - name, - params=None, - carla_sensor_class=Sensor, - carla_settings=None, - process_msg_fun=None): - """ - :param name: sensor name - :param params: params used to set the sensor in carla - :param carla_sensor_class: type of sensor - :param carla_settings: carla_settings object - :param process_msg_fun: function to call on each new computed message - """ - self.process_msg_fun = process_msg_fun - self.carla_object = carla_sensor_class(name, **params) - carla_settings.add_sensor(self.carla_object) - self.name = name - - def process_sensor_data(self, data, cur_time): - """ - process a carla sensor data object - - Generate sensor message and transform message - - :param data: carla sensor data - :param cur_time: current ros simulation time - :return: - """ - self._compute_sensor_msg(data, cur_time) - self._compute_transform(data, cur_time) - - def _compute_sensor_msg(self, data, cur_time): - """ - Compute the ros msg associated to carla data - :param data: SensorData object - :param cur_time: current ros simulation time - """ - raise NotImplemented - - def _compute_transform(self, data, cur_time): - """ - Compute the tf msg associated to carla data - - :param data: SensorData object - :param cur_time: current ros simulation time - """ - raise NotImplemented - - -class LidarHandler(SensorHandler): - """ - Class to handle Lidar sensors - """ - - def __init__(self, name, params, **kwargs): - super(LidarHandler, self).__init__( - name, carla_sensor_class=Lidar, params=params, **kwargs) - - def _compute_sensor_msg(self, sensor_data, cur_time): - header = Header() - header.frame_id = self.name - header.stamp = cur_time - # we take the oposite of y axis (as lidar point are express in left handed coordinate system, and ros need right handed) - # we need a copy here, because the data are read only in carla numpy array - new_sensor_data = sensor_data.data.copy() - new_sensor_data = -new_sensor_data - # we also need to permute x and y - new_sensor_data = new_sensor_data[..., [1, 0, 2]] - point_cloud_msg = create_cloud_xyz32(header, new_sensor_data) - topic = self.name - self.process_msg_fun(topic, point_cloud_msg) - - def _compute_transform(self, sensor_data, cur_time): - parent_frame_id = "base_link" - child_frame_id = self.name - - t = TransformStamped() - t.header.stamp = cur_time - t.header.frame_id = parent_frame_id - t.child_frame_id = child_frame_id - t.transform = carla_transform_to_ros_transform( - self.carla_object.get_transform()) - - # for some reasons lidar sends already rotated cloud, - # so it is need to ignore pitch and roll - r = t.transform.rotation - quat = [r.x, r.y, r.z, r.w] - roll, pitch, yaw = tf.transformations.euler_from_quaternion(quat) - quat = tf.transformations.quaternion_from_euler(0, 0, yaw) - t.transform.rotation.x = quat[0] - t.transform.rotation.y = quat[1] - t.transform.rotation.z = quat[2] - t.transform.rotation.w = quat[3] - self.process_msg_fun('tf', t) - - -class CameraHandler(SensorHandler): - """ - Class to handle Camera sensors - """ - - def __init__(self, name, params, **kwargs): - super(CameraHandler, self).__init__( - name, carla_sensor_class=Camera, params=params, **kwargs) - - self.topic_image = '/'.join([name, 'image_raw']) - self.topic_cam_info = '/'.join([name, 'camera_info']) - self.build_camera_info() - - def build_camera_info(self): - """ - computing camera info - - camera info doesn't change over time - """ - camera_info = CameraInfo() - camera_info.header.frame_id = self.name - camera_info.width = self.carla_object.ImageSizeX - camera_info.height = self.carla_object.ImageSizeY - camera_info.distortion_model = 'plumb_bob' - cx = self.carla_object.ImageSizeX / 2.0 - cy = self.carla_object.ImageSizeY / 2.0 - fx = self.carla_object.ImageSizeX / ( - 2.0 * math.tan(self.carla_object.FOV * math.pi / 360.0)) - fy = fx - camera_info.K = [fx, 0, cx, 0, fy, cy, 0, 0, 1] - camera_info.D = [0, 0, 0, 0, 0] - camera_info.R = [1.0, 0, 0, 0, 1.0, 0, 0, 0, 1.0] - camera_info.P = [fx, 0, cx, 0, 0, fy, cy, 0, 0, 0, 1.0, 0] - self._camera_info = camera_info - - def _compute_sensor_msg(self, sensor_data, cur_time): - if sensor_data.type == 'Depth': - # ROS PEP 0118 : Depth images are published as sensor_msgs/Image encoded as 32-bit float. - # Each pixel is a depth (along the camera Z axis) in meters. - data = np.float32(sensor_data.data * 1000.0) # in carla 1.0 = 1km - encoding = 'passthrough' - elif sensor_data.type == 'SemanticSegmentation': - encoding = 'mono16' # for semantic segmentation we use mono16 in order to be able to limit range in rviz - data = np.uint16(sensor_data.data) - else: - encoding = 'rgb8' - data = sensor_data.data - img_msg = cv_bridge.cv2_to_imgmsg(data, encoding=encoding) - img_msg.header.frame_id = self.name - img_msg.header.stamp = cur_time - - cam_info = self._camera_info - cam_info.header = img_msg.header - - self.process_msg_fun(self.topic_cam_info, cam_info) - self.process_msg_fun(self.topic_image, img_msg) - - def _compute_transform(self, sensor_data, cur_time): - parent_frame_id = "base_link" - child_frame_id = self.name - - t = TransformStamped() - t.header.stamp = cur_time - t.header.frame_id = parent_frame_id - t.child_frame_id = child_frame_id - - # for camera we reorient it to look at the same axis as the opencv projection - # in order to get easy depth cloud for RGBD camera - t.transform = carla_transform_to_ros_transform( - self.carla_object.get_transform()) - - rotation = t.transform.rotation - quat = [rotation.x, rotation.y, rotation.z, rotation.w] - quat_swap = tf.transformations.quaternion_from_matrix( - [[0, 0, 1, 0], - [-1, 0, 0, 0], - [0, -1, 0, 0], - [0, 0, 0, 1]]) - quat = tf.transformations.quaternion_multiply(quat, quat_swap) - - t.transform.rotation.x = quat[0] - t.transform.rotation.y = quat[1] - t.transform.rotation.z = quat[2] - t.transform.rotation.w = quat[3] - - self.process_msg_fun('tf', t) diff --git a/carla_ros_bridge/src/carla_ros_bridge/transforms.py b/carla_ros_bridge/src/carla_ros_bridge/transforms.py deleted file mode 100644 index a8087142b..000000000 --- a/carla_ros_bridge/src/carla_ros_bridge/transforms.py +++ /dev/null @@ -1,79 +0,0 @@ -""" -Tool functions to convert transforms from carla to ros coordinate system -""" -from geometry_msgs.msg import Transform, Pose -import tf - - -def carla_transform_to_ros_transform(carla_transform): - """ - Convert a carla transform to a ros transform - :param carla_transform: - :return: a ros transform - """ - transform_matrix = carla_transform.matrix - - x, y, z = tf.transformations.translation_from_matrix(transform_matrix) - quat = tf.transformations.quaternion_from_matrix(transform_matrix) - - ros_transform = Transform() - # remember that we go from left-handed system (unreal) to right-handed system (ros) - ros_transform.translation.x = x - ros_transform.translation.y = -y - ros_transform.translation.z = z - - roll, pitch, yaw = tf.transformations.euler_from_quaternion(quat) - roll = -roll - pitch = pitch - yaw = -yaw - - quat = tf.transformations.quaternion_from_euler(roll, pitch, yaw) - ros_transform.rotation.x = quat[0] - ros_transform.rotation.y = quat[1] - ros_transform.rotation.z = quat[2] - ros_transform.rotation.w = quat[3] - - return ros_transform - - -def carla_transform_to_ros_pose(carla_transform): - """ - convert a carla transform to ros pose msg - :param carla_transform: - :return: a ros pose msg - """ - transform_matrix = Transform(carla_transform).matrix - - x, y, z = tf.transformations.translation_from_matrix(transform_matrix) - quat = tf.transformations.quaternion_from_matrix(transform_matrix) - - ros_transform = Transform() - ros_transform.translation.x = x - ros_transform.translation.y = y - ros_transform.translation.z = z - - ros_transform.rotation.x = quat[0] - ros_transform.rotation.y = quat[1] - ros_transform.rotation.z = quat[2] - ros_transform.rotation.w = quat[3] - - return ros_transform - - -def ros_transform_to_pose(ros_transform): - """ - Util function to convert a ros transform into a ros pose - - :param ros_transform: - :return: a ros pose msg - """ - pose = Pose() - pose.position.x, pose.position.y, pose.position.z = ros_transform.translation.x, \ - ros_transform.translation.y, \ - ros_transform.translation.z - - pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w = ros_transform.rotation.x, \ - ros_transform.rotation.y, \ - ros_transform.rotation.z, \ - ros_transform.rotation.w - return pose diff --git a/carla_ros_bridge/test/ros_bridge_client.py b/carla_ros_bridge/test/ros_bridge_client.py deleted file mode 100644 index 0aa9647a9..000000000 --- a/carla_ros_bridge/test/ros_bridge_client.py +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env python -import rostest -import sys -import unittest - -from carla_ros_bridge.client import main - -## A sample python unit test -class TestPublishedTopics(unittest.TestCase): - def test_camera_topics(self): - self.assertEquals(1, 1, "1!=1") - - - -if __name__ == '__main__': - rostest.rosrun(__name__, 'test_published_topics', TestPublishedTopics) diff --git a/carla_ros_bridge/test/ros_bridge_client.test b/carla_ros_bridge/test/ros_bridge_client.test deleted file mode 100644 index f8500b802..000000000 --- a/carla_ros_bridge/test/ros_bridge_client.test +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - - - - - topics: - - name: /player_vehicle - timeout: 20 - negative: False - - name: /tf - timeout: 20 - negative: False - - name: /camera_front/image_raw - timeout: 20 - negative: False - - name: /camera_front/camera_info - timeout: 20 - negative: False - - name: /camera_depth/image_raw - timeout: 20 - negative: False - - name: /camera_depth/camera_info - timeout: 20 - negative: False - - name: /vehicles - timeout: 20 - negative: False - - - - - - - \ No newline at end of file