Merge branch 'master' into ros_bridge_odometry_msg

Docs/how_to_build_on_linux.md

@@ -12,6 +12,10 @@ sudo apt-get install build-essential clang-5.0 lld-5.0 g++-7 ninja-build python
 pip install --user setuptools nose2
 ```
 
+Note that some dependencies require **CMake 3.9** or later installed in your
+machine, you can retrieve the latest version from the
+[CMake download page][cmakelink].
+
 To avoid compatibility issues between Unreal Engine and the CARLA dependencies,
 the best configuration is to compile everything with the same compiler version
 and C++ runtime library. We use clang 5.0 and LLVM's libc++. We recommend to
@@ -23,6 +27,8 @@ sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-5.0/bi
 sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-5.0/bin/clang 101
 ```
 
+[cmakelink]: https://cmake.org/download/
+
 Build Unreal Engine
 -------------------
 

PythonClient/carla/driving_benchmark/driving_benchmark.py

@@ -31,7 +31,7 @@ class DrivingBenchmark(object):
     an Agent class with a set Suite.
 
 
-    The benchmark class must be inherited with a class that defines the
+    The benchmark class must be inherited by a class that defines the
     all the experiments to be run by the agent
     """
 
@@ -63,8 +63,8 @@ def __init__(
     def benchmark_agent(self, experiment_suite, agent, client):
         """
         Function to benchmark the agent.
-        It first check the log file for this benchmark.
-        if it exist it continues from the experiment where it stopped.
+        It first checks the log file of this benchmark.
+        if it exists, it continues from the experiment where it stopped.
 
 
         Args:
@@ -83,7 +83,7 @@ def benchmark_agent(self, experiment_suite, agent, client):
         metrics_object = Metrics(experiment_suite.metrics_parameters,
                                  experiment_suite.dynamic_tasks)
 
-        # Function return the current pose and task for this benchmark.
+        # Function returns the current pose and task for this benchmark.
         start_pose, start_experiment = self._recording.get_pose_and_experiment(
             experiment_suite.get_number_of_poses_task())
 
@@ -150,7 +150,7 @@ def benchmark_agent(self, experiment_suite, agent, client):
 
     def get_path(self):
         """
-        Returns the path were the log was saved.
+        Returns the path where the log was saved.
         """
         return self._recording.path
 
@@ -171,7 +171,7 @@ def _get_directions(self, current_point, end_point):
 
     def _get_shortest_path(self, start_point, end_point):
         """
-        Calculates the shortest path between two points considering the road netowrk
+        Calculates the shortest path between two points considering the road network
         """
 
         return self._planner.get_shortest_path_distance(
@@ -189,7 +189,7 @@ def _run_navigation_episode(
             target,
             episode_name):
         """
-         Run one episode of the benchmark (Pose) for a certain agent.
+         Runs one episode of the benchmark (Pose) for a certain agent.
 
 
         Args:
@@ -223,7 +223,7 @@ def _run_navigation_episode(
             measurements, sensor_data = client.read_data()
             # The directions to reach the goal are calculated.
             directions = self._get_directions(measurements.player_measurements.transform, target)
-            # Agent process the data.
+            # The agent processes the data.
             control = agent.run_step(measurements, sensor_data, directions, target)
             # Send the control commands to the vehicle
             client.send_control(control)

carla_ros_bridge/config/carla_default_rviz.cfg.rviz

@@ -8,7 +8,7 @@ Panels:
         - /Status1
         - /DepthCloud1/Auto Size1
       Splitter Ratio: 0.5
-    Tree Height: 334
+    Tree Height: 332
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -17,7 +17,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
+    Splitter Ratio: 0.588679016
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -36,18 +36,18 @@ Panels:
         - /Global Options1
         - /non_player_vehicles1
         - /DepthCloud1/Auto Size1
-      Splitter Ratio: 0.4943566620349884
-    Tree Height: 170
+      Splitter Ratio: 0.494356662
+    Tree Height: 181
 Visualization Manager:
   Class: ""
   Displays:
-    - Alpha: 0.10000000149011612
+    - Alpha: 0.100000001
       Cell Size: 1
       Class: rviz/Grid
       Color: 170; 164; 162
       Enabled: true
       Line Style:
-        Line Width: 0.029999999329447746
+        Line Width: 0.0299999993
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -88,7 +88,7 @@ Visualization Manager:
       Marker Topic: /vehicles
       Name: non_player_vehicles
       Namespaces:
-        {}
+        "": true
       Queue Size: 100
       Value: true
     - Class: rviz/Marker
@@ -122,7 +122,7 @@ Visualization Manager:
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.009999999776482582
+      Size (m): 0.00999999978
       Style: Flat Squares
       Topic: /lidar_0
       Unreliable: false
@@ -167,6 +167,16 @@ Visualization Manager:
       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
@@ -192,64 +202,62 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 31.861072540283203
+      Distance: 31.8610725
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
+        Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 6.999748229980469
-        Y: 0.7988636493682861
-        Z: 2.896774276450742e-6
+        X: 6.99974823
+        Y: 0.798863649
+        Z: 2.89677428e-06
       Focal Shape Fixed Size: false
-      Focal Shape Size: 0.05000000074505806
+      Focal Shape Size: 0.0500000007
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.18520352244377136
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.185203522
       Target Frame: base_link
       Value: ThirdPersonFollower (rviz)
-      Yaw: 3.5035617351531982
+      Yaw: 3.50356174
     Saved:
       - Class: rviz/FPS
         Enable Stereo Rendering:
-          Stereo Eye Separation: 0.05999999865889549
+          Stereo Eye Separation: 0.0599999987
           Stereo Focal Distance: 1
           Swap Stereo Eyes: false
           Value: false
         Invert Z Axis: false
         Name: FPS
-        Near Clip Distance: 0.009999999776482582
-        Pitch: 0.984796941280365
+        Near Clip Distance: 0.00999999978
+        Pitch: 0.984796941
         Position:
-          X: 48.14033508300781
-          Y: -258.651123046875
-          Z: 284.4742431640625
+          X: 48.1403351
+          Y: -258.651123
+          Z: 284.474243
         Target Frame: base_link
         Value: FPS (rviz)
-        Yaw: 1.521981120109558
+        Yaw: 1.52198112
 Window Geometry:
-  "&Displays":
-    collapsed: false
-  "&Tool Properties":
-    collapsed: false
-  "&Views":
-    collapsed: false
   Depth:
     collapsed: false
   Displays:
     collapsed: false
-  Front_&cam:
+  Front_cam:
     collapsed: false
   Height: 994
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
-  T&ime:
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
     collapsed: false
   Width: 1680
-  X: 0
+  X: 49
   Y: 30

carla_ros_bridge/src/carla_ros_bridge/bridge.py

@@ -14,6 +14,7 @@
 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):
@@ -138,6 +139,10 @@ def run(self):
         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():

carla_ros_bridge/src/carla_ros_bridge/map.py

@@ -0,0 +1,58 @@
+"""
+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)