Include carla client in roslaunch

- Use more realistic Velodyne parameters
- rework carla clients

README.md

@@ -70,7 +70,10 @@ You need two terminals:
     #execute carla-autoware-bridge and carla-autoware-bridge
     export PYTHONPATH=<path-to-carla>/PythonAPI/carla-<version_and_arch>.egg:<path-to-carla>/PythonAPI/
     source $CARLA_AUTOWARE_ROOT/catkin_ws/devel/setup.bash
+    #either execute a headless Carla client
     roslaunch carla_autoware_bridge carla_autoware_bridge.launch
+    #or
+    roslaunch carla_autoware_bridge carla_autoware_bridge_with_manual_control.launch
 
 In Autoware Runtime Manager, select the customized launch files:
 
@@ -86,44 +89,3 @@ Now you can start the Autoware Stack by starting all launch files from top to bo
 A special camera is positioned behind the car to see the car and its environment.
 You can subscribe to it via ```/carla/ego_vehicle/camera/rgb/viewFromBehind/image_color```.
 
-### Run with controllable Carla client
-
-It is also possible to run a Carla client, that can additionally be controlled by keyboard.
-
-The execution order:
-
-1. Carla Server
-2. Carla Client
-3. Autoware Runtime Manager
-4. Carla Autoware Bridge
-5. Autoware Stack
-
-You need three terminals:
-
-    #Terminal 1
-
-    #execute Carla
-    SDL_VIDEODRIVER=offscreen <path-to-carla>/CarlaUE4.sh /Game/Carla/Maps/Town01 -benchmark -fps=10
-
-
-    #Terminal 2
-
-    cd ~/carla-autoware
-
-    #execute Carla ego vehicle client
-    export PYTHONPATH=<path-to-carla>/PythonAPI/carla-<version_and_arch>.egg
-    ./catkin_ws/src/carla_client/src/carla_autoware_manual_control.py --filter vehicle.toyota.prius*
-
-
-    #Terminal 3
-
-    export CARLA_AUTOWARE_ROOT=~/carla-autoware
-
-    #execute Autoware (forks into background)
-    <path-to-autoware>/ros/run
-
-    #execute carla-autoware-bridge and carla-autoware-bridge
-    export PYTHONPATH=<path-to-carla>/PythonAPI/carla-<version_and_arch>.egg:<path-to-carla>/PythonAPI/
-    source $CARLA_AUTOWARE_ROOT/catkin_ws/devel/setup.bash
-    roslaunch carla_autoware_bridge carla_autoware_bridge.launch
-

catkin_ws/.gitignore

@@ -3,3 +3,4 @@ devel/
 install/
 src/CMakeLists.txt
 .catkin_workspace
+*.pyc

catkin_ws/src/carla_autoware_bridge/launch/carla_autoware_bridge.launch

@@ -1,27 +1,9 @@
 <launch>
-  <arg name="wheelbase" default="2.5" /> <!-- distance between front and back axle in meters -->
-
   <!-- carla client -->
   <include file="$(find carla_client)/launch/carla_client.launch" />
 
-  <include file="$(find carla_ros_bridge)/client.launch" />
-
-  <!-- remap carla lidar to autoware -->
-  <node pkg="topic_tools" type="relay" name="points_relay" args="/carla/ego_vehicle/lidar/sensor/point_cloud /points_raw"/>
-
-  <!-- remap carla front camera to autoware -->
-  <node pkg="topic_tools" type="relay" name="imag_relay" args="/carla/ego_vehicle/camera/rgb/front/image_color /image_raw"/>
-
-  <!-- extract pose from carla odometry -->
-  <node pkg="carla_autoware_bridge" type="odometry_to_posestamped" name="odometry_to_posestamped"/>
-
-  <!-- convert twist to carla ackermann drive-->
-  <node pkg="carla_autoware_bridge" type="vehiclecmd_to_ackermanndrive" name="vehiclecmd_to_ackermanndrive" output="screen">
-    <param name="wheelbase" value="$(arg wheelbase)"/>
-  </node>
-
-  <!-- mission planning -->
-  <include file="$(find carla_autoware_waypoint_publisher)/launch/carla_autoware_waypoint_publisher.launch" />
+  <!-- common -->
+  <include file="$(find carla_autoware_bridge)/launch/carla_autoware_bridge_common.launch" />
 
 </launch>
 

catkin_ws/src/carla_autoware_bridge/launch/carla_autoware_bridge_capture_pcl_map.launch

@@ -0,0 +1,15 @@
+<launch>
+
+  <param name="/carla/client/start_in_autopilot" value="True" /> <!-- for capturing the pcl map, the autopilot drives around -->
+
+  <!-- carla client -->
+  <include file="$(find carla_client)/launch/carla_manual_client.launch" />
+
+  <!-- pcl map capturing -->
+  <include file="$(find pcl_recorder)/launch/pcl_recorder.launch" />
+
+  <!-- common -->
+  <include file="$(find carla_autoware_bridge)/launch/carla_autoware_bridge_common.launch" />
+
+</launch>
+

catkin_ws/src/carla_autoware_bridge/launch/carla_autoware_bridge_common.launch

@@ -0,0 +1,25 @@
+<launch>
+  <arg name="wheelbase" default="2.5" /> <!-- distance between front and back axle in meters -->
+
+  <!-- ros bridge -->
+  <include file="$(find carla_ros_bridge)/client.launch" />
+
+  <!-- remap carla lidar to autoware -->
+  <node pkg="topic_tools" type="relay" name="points_relay" args="/carla/ego_vehicle/lidar/sensor/point_cloud /points_raw"/>
+
+  <!-- remap carla front camera to autoware -->
+  <node pkg="topic_tools" type="relay" name="imag_relay" args="/carla/ego_vehicle/camera/rgb/front/image_color /image_raw"/>
+
+  <!-- extract pose from carla odometry -->
+  <node pkg="carla_autoware_bridge" type="odometry_to_posestamped" name="odometry_to_posestamped"/>
+
+  <!-- convert twist to carla ackermann drive-->
+  <node pkg="carla_autoware_bridge" type="vehiclecmd_to_ackermanndrive" name="vehiclecmd_to_ackermanndrive" output="screen">
+    <param name="wheelbase" value="$(arg wheelbase)"/>
+  </node>
+
+  <!-- mission planning -->
+  <include file="$(find carla_autoware_waypoint_publisher)/launch/carla_autoware_waypoint_publisher.launch" />
+
+</launch>
+

catkin_ws/src/carla_autoware_bridge/launch/carla_autoware_bridge_with_manual_control.launch

@@ -0,0 +1,12 @@
+<launch>
+
+  <param name="/carla/client/start_in_autopilot" value="False" />
+
+  <!-- carla client -->
+  <include file="$(find carla_client)/launch/carla_manual_client.launch" />
+
+  <!-- common -->
+  <include file="$(find carla_autoware_bridge)/launch/carla_autoware_bridge_common.launch" />
+
+</launch>
+

catkin_ws/src/carla_autoware_bridge/src/vehiclecmd_to_ackermanndrive

@@ -1,11 +1,24 @@
 #!/usr/bin/env python
 
+# Copyright (c) 2019 Intel Labs.
+#
+# authors: Frederik Pasch
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+#
+# This ROS node reads a Twist message from Autoware, converts it to an AckermannDrive message and sends it Carla
+#
+# If data is sent out can be controlled by topic /actuator_data_forwarding_active
+
 import rospy, math
 from ackermann_msgs.msg import AckermannDrive
 from autoware_msgs.msg import VehicleCmd
+from std_msgs.msg import Bool
 
 pub = rospy.Publisher("/carla/ego_vehicle/ackermann_cmd", AckermannDrive, queue_size=1)
 wheelbase = 3.0
+actuator_data_forwarding_active = True
 
 def convert_trans_rot_vel_to_steering_angle(v, omega, wheelbase):
     if omega == 0 or v == 0:
@@ -15,15 +28,24 @@ def convert_trans_rot_vel_to_steering_angle(v, omega, wheelbase):
 
 def callback(data):
     global wheelbase
+    global actuator_data_forwarding_active
+    if not actuator_data_forwarding_active:
+        return
     msg = AckermannDrive()
     msg.speed = data.twist_cmd.twist.linear.x
     msg.steering_angle = convert_trans_rot_vel_to_steering_angle(msg.speed, data.twist_cmd.twist.angular.z, wheelbase)
     pub.publish(msg)
 
+def disableCallback(data):
+    global actuator_data_forwarding_active
+    actuator_data_forwarding_active = data.data
+    rospy.loginfo("Forward actuator data set to %d", actuator_data_forwarding_active)
+
 def twist_to_ackermanndrive():
     rospy.init_node('twist_to_ackermanndrive')
     wheelbase = rospy.get_param('~wheelbase', 3.0)
     rospy.Subscriber("/vehicle_cmd", VehicleCmd, callback, queue_size=1)
+    rospy.Subscriber("/actuator_data_forwarding_active", Bool, disableCallback, queue_size=1)
     rospy.spin()
 
 if __name__ == '__main__':

catkin_ws/src/carla_autoware_waypoint_publisher/src/carla_autoware_waypoint_publisher

@@ -3,7 +3,7 @@
 #
 # Copyright (c) 2019 Intel Labs.
 #
-# authors: Frederik Pasch (frederik.pasch@intel.com)
+# authors: Frederik Pasch
 #
 import rospy
 import carla

catkin_ws/src/carla_client/launch/carla_client.launch

@@ -2,9 +2,8 @@
   <param name="/carla/host" value="127.0.0.1" />
   <param name="/carla/port" value="2000" />
   <param name="/carla/client/vehicle_filter" value="vehicle.toyota.prius*" />
-  <param name="/carla/client/vehicle_filter" value="vehicle.toyota.prius*" />
 
-<!-- set fixed spawn_point (caution: once set, they keep existing between roslaunch executions)
+<!-- set fixed spawn_point (caution: once set, the parameters keep existing between roslaunch executions)
   <group ns="/carla/client/spawn_point">
     <param name="X" value="0.0" />
     <param name="Y" value="0.0" />

catkin_ws/src/carla_client/launch/carla_manual_client.launch

@@ -0,0 +1,14 @@
+<launch>
+  <param name="/carla/host" value="127.0.0.1" />
+  <param name="/carla/port" value="2000" />
+  <param name="/carla/client/vehicle_filter" value="vehicle.toyota.prius*" />
+
+  <group ns="/carla/client/resolution">
+    <param name="width" value="800" />
+    <param name="height" value="600" />
+  </group>
+
+  <node pkg="carla_client" type="carla_autoware_manual_control" name="carla_autoware_manual_control" output="screen"/>
+
+</launch>
+

catkin_ws/src/carla_client/src/carla_autoware_control

@@ -4,7 +4,7 @@
 # Barcelona (UAB).
 # Copyright (c) 2019 Intel Labs.
 #
-# authors: Frederik Pasch (frederik.pasch@intel.com)
+# authors: Frederik Pasch
 #
 # This work is licensed under the terms of the MIT license.
 # For a copy, see <https://opensource.org/licenses/MIT>.
@@ -17,6 +17,8 @@ import glob
 import os
 import random
 
+import carla_autoware_sensors
+
 # ==============================================================================
 # -- find carla module ---------------------------------------------------------
 # ==============================================================================
@@ -77,9 +79,9 @@ class World(object):
                 spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
                 self.player = self.world.try_spawn_actor(blueprint, spawn_point)
         # Set up the sensors.
-        self.gnss_sensor = GnssSensor(self.player)
-        self.lidar_sensor = LidarSensor(self.player)
-        self.front_camera = FrontCamera(self.player)
+        self.gnss_sensor = carla_autoware_sensors.GnssSensor(self.player)
+        self.lidar_sensor = carla_autoware_sensors.LidarSensor(self.player)
+        self.front_camera = carla_autoware_sensors.FrontCamera(self.player)
         self.view_camera = ViewCamera(self.player)
 
     def destroy(self):
@@ -94,47 +96,6 @@ class World(object):
             if actor is not None:
                 actor.destroy()
 
-# ==============================================================================
-# -- GnssSensor ----------------------------------------------------------------
-# ==============================================================================
-
-class GnssSensor(object):
-    def __init__(self, parent_actor):
-        self.sensor = None
-        self._parent = parent_actor
-        self.lat = 0.0
-        self.lon = 0.0
-        world = self._parent.get_world()
-        bp = world.get_blueprint_library().find('sensor.other.gnss')
-        self.sensor = world.spawn_actor(bp, carla.Transform(carla.Location(x=1.0, z=2.8)), attach_to=self._parent)
-
-# ==============================================================================
-# -- LidarSensor ---------------------------------------------------------------
-# ==============================================================================
-
-class LidarSensor(object):
-    def __init__(self, parent_actor):
-        self.sensor = None
-        self._parent = parent_actor
-        world = self._parent.get_world()
-        bp = world.get_blueprint_library().find('sensor.lidar.ray_cast')
-        bp.set_attribute('range', '5000')
-        bp.set_attribute('role_name', 'sensor')
-        self.sensor = world.spawn_actor(bp, carla.Transform(carla.Location(x=0.0, z=2.0)), attach_to=self._parent)
-
-# ==============================================================================
-# -- FrontCameraSensor ---------------------------------------------------------
-# ==============================================================================
-
-class FrontCamera(object):
-    def __init__(self, parent_actor):
-        self.sensor = None
-        self._parent = parent_actor
-        world = self._parent.get_world()
-        bp = world.get_blueprint_library().find('sensor.camera.rgb')
-        bp.set_attribute('role_name', 'front')
-        self.sensor = world.spawn_actor(bp, carla.Transform(carla.Location(x=2.0, z=2.0)), attach_to=self._parent)
-
 # ==============================================================================
 # -- CameraSensor for Visualization --------------------------------------------
 # ==============================================================================
@@ -182,8 +143,6 @@ def main():
     finally:
 
         if world is not None:
-            rospy.loginfo('DELETING WORLD')
-
             world.destroy()