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ROS integration #12

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jokla opened this issue Nov 7, 2017 · 7 comments
Closed

ROS integration #12

jokla opened this issue Nov 7, 2017 · 7 comments
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@felipecode
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feature request help wanted python Requires changing Python code

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@jokla
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jokla commented Nov 7, 2017

Hi!

Is there any plan of integrating Carla with ROS?
In specific this would allow us to retrieve the state information, sensor data and to send control command to the car.

Probably the easiest way would be to write a ROS node that uses the CARLA client API in python?

Thanks!
@tlind
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tlind commented Nov 14, 2017

+1

1 similar comment
@fabianoboril
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+1

@dosovits dosovits mentioned this issue Nov 16, 2017
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@dosovits
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We would like to integrate CARLA with ROS at one point, but this may take some time due to our limited resources.

But we are very happy to accept contributed code, if anyone is willing to implement it. For instance, @WenchaoDing in #26 mentioned he is doing something in this direction.

@WenchaoDing
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WenchaoDing commented Dec 1, 2017 •
edited

My original repo is moved to private since I am developing some work which is buggy and not relevant to this topic. Instead, I post this gist and some message example which may be a little bit helpful for beginners. Hope someone can post more elegant solutions. :)

@igilitschenski
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igilitschenski commented Feb 26, 2018 •
edited

I was also interested in using Carla with ROS. Started catkinizing the binary distribution. A first go at it can be found at https://github.com/mit-drl/carla_binary_catkin. So far, this does not install the Python module (will still look into this).

Update (Mar 12, 2018): The python module is now also properly installed.

@nsubiron nsubiron added the python Requires changing Python code label Mar 14, 2018
@lgeo3
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lgeo3 commented Mar 23, 2018

I have also done a simple ros_bridge for carla, you can test it here: dev/add_ros_bridge

@lgeo3 lgeo3 mentioned this issue Mar 23, 2018
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@germanros1987
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Almost merged at #301

@ghost ghost removed the backlog label Jun 11, 2018
@man-csl man-csl mentioned this issue Aug 31, 2020
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@hellojql hellojql mentioned this issue Nov 2, 2020
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@harmeeksinghbedi harmeeksinghbedi mentioned this issue Nov 11, 2020
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@RehabHsn RehabHsn mentioned this issue Feb 3, 2022
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@SampsonM8 SampsonM8 mentioned this issue Apr 23, 2023
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wentasah added a commit to wentasah/carla that referenced this issue Sep 25, 2023
@wentasah
PythonAPI: Fix segfault in get_random_location_from_navigation()
fdd186e 
When I run generate_traffic.py under Python 3.10, I get a segfault at
line:

    loc = world.get_random_location_from_navigation()

The backtrace from gdb looks like this:

    #0  0x00007f04552ad7e7 in new_threadstate () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/libpython3.10.so.1.0
    matejm42#1  0x00007f04552adaa1 in PyGILState_Ensure () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/libpython3.10.so.1.0
    carla-simulator#2  0x00007f040afd4f32 in std::_Function_handler<void (carla::client::WorldSnapshot), MakeCallback(boost::python::api::object)::{lambda(auto:1)matejm42#1}>::_M_invoke(std::_Any_data const&, carla::client::WorldSnapshot&&) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#3  0x00007f040b1d4ab1 in carla::client::detail::CallbackList<carla::client::WorldSnapshot>::Call(carla::client::WorldSnapshot) const () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#4  0x00007f040b1d424a in std::_Function_handler<void (carla::Buffer), carla::client::detail::Episode::Listen()::{lambda(auto:1)matejm42#1}>::_M_invoke(std::_Any_data const&, carla::Buffer&&) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#5  0x00007f040b23fc41 in boost::asio::detail::completion_handler<boost::asio::detail::binder0<carla::streaming::detail::tcp::Client::ReadData()::{lambda()matejm42#1}::operator()() const::{lambda(boost::system::error_code, unsigned long)matejm42#1}::operator()(boost::system::error_code, unsigned long) const::{lambda()matejm42#1}>, boost::asio::io_context::basic_executor_type<std::allocator<void>, 0ul> >::do_complete(void*, boost::asio::detail::scheduler_operation*, boost::system::error_code const&, unsigned long) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#6  0x00007f040b24ae85 in boost::asio::detail::strand_service::do_complete(void*, boost::asio::detail::scheduler_operation*, boost::system::error_code const&, unsigned long) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#7  0x00007f040b1a94f5 in boost::asio::detail::scheduler::do_run_one(boost::asio::detail::conditionally_enabled_mutex::scoped_lock&, boost::asio::detail::scheduler_thread_info&, boost::system::error_code const&) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#8  0x00007f040b199351 in boost::asio::detail::scheduler::run(boost::system::error_code&) [clone .isra.0] () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#9  0x00007f040b1ac1cb in std::thread::_State_impl<std::thread::_Invoker<std::tuple<carla::ThreadPool::AsyncRun(unsigned long)::{lambda()matejm42#1}> > >::_M_run() ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    carla-simulator#10 0x00007f040bce05c3 in execute_native_thread_routine () from /nix/store/2fpmbk0g0ggm9zq89af7phvvvv8dnm7n-gcc-12.3.0-lib/lib/libstdc++.so.6
    carla-simulator#11 0x00007f045509fdd4 in start_thread () from /nix/store/1x4ijm9r1a88qk7zcmbbfza324gx1aac-glibc-2.37-8/lib/libc.so.6
    carla-simulator#12 0x00007f04551219b0 in clone3 () from /nix/store/1x4ijm9r1a88qk7zcmbbfza324gx1aac-glibc-2.37-8/lib/libc.so.6

It turns out that its caused by releasing GIL for too long. We fix it
by releasing the GIL only for the actual libcarla call and
constructing Python objects with GIL locked.
@Andrey949101 Andrey949101 mentioned this issue Oct 20, 2023
Open
bernatx added a commit that referenced this issue Oct 27, 2023
@wentasah @bernatx
PythonAPI: Fix segfaults due to incorrect GIL locking (#6718)
2de8ad0 
* PythonAPI: Fix segfault in GetAvailableMaps

When using CARLA with Python 3.10, I'm getting a segfault in
GetAvailableMaps. The problem disappears when PyList manipulation does
not happen with GIL unlocked, as done in this commit.

The initial part of crash backtrace (from GDB) is below:

    Program terminated with signal SIGSEGV, Segmentation fault.

    warning: Section `.reg-xstate/49253' in core file too small.
    #0  _PyInterpreterState_GET () at ./Include/internal/pycore_pystate.h:117
    117	   return tstate->interp;
    [Current thread is 1 (Thread 0x7fe6fe48f740 (LWP 49253))]
    (gdb) bt
    #0  _PyInterpreterState_GET () at ./Include/internal/pycore_pystate.h:117
    #1  get_list_state () at Objects/listobject.c:26
    #2  PyList_New (size=0) at Objects/listobject.c:159
    #3  0x00007fe6fdc0dab0 in boost::python::detail::list_base::list_base() () from /nix/store/c95f3nrkz3sflvycihyw1c8q4nk47p4m-boost-1.79.0/lib/libboost_python310.so.1.79.0
    #4  0x00007fe6ef9ecfc4 in boost::python::list::list (this=0x7ffd8a8aae28) at include/boost/python/list.hpp:61
    #5  GetAvailableMaps (self=...) at source/libcarla/Client.cpp:26
    #6  0x00007fe6efb6a8fe in boost::python::detail::invoke<boost::python::to_python_value<boost::python::list const&>, boost::python::list (*)(carla::client::Client const&), boost::python::arg_from_python<carla::client::Client const&> > (rc=..., f=<optimized out>, ac0=...)
        at include/boost/python/detail/invoke.hpp:73
    #7  boost::python::detail::caller_arity<1u>::impl<boost::python::list (*)(carla::client::Client const&), boost::python::default_call_policies, boost::mpl::vector2<boost::python::list, carla::client::Client const&> >::operator() (args_=<optimized out>, this=<optimized out>)
        at include/boost/python/detail/caller.hpp:233
    #8  boost::python::objects::caller_py_function_impl<boost::python::detail::caller<boost::python::list (*)(carla::client::Client const&), boost::python::default_call_policies, boost::mpl::vector2<boost::python::list, carla::client::Client const&> > >::operator() (
        this=<optimized out>, args=<optimized out>, kw=<optimized out>) at include/boost/python/object/py_function.hpp:38
    #9  0x00007fe6fdc1b4dd in boost::python::objects::function::call(_object*, _object*) const () from /nix/store/c95f3nrkz3sflvycihyw1c8q4nk47p4m-boost-1.79.0/lib/libboost_python310.so.1.79.0
    #10 0x00007fe6fdc1b6a8 in boost::detail::function::void_function_ref_invoker0<boost::python::objects::(anonymous namespace)::bind_return, void>::invoke(boost::detail::function::function_buffer&) ()
       from /nix/store/c95f3nrkz3sflvycihyw1c8q4nk47p4m-boost-1.79.0/lib/libboost_python310.so.1.79.0
    ...

* PythonAPI: Fix segfault in get_random_location_from_navigation()

When I run generate_traffic.py under Python 3.10, I get a segfault at
line:

    loc = world.get_random_location_from_navigation()

The backtrace from gdb looks like this:

    #0  0x00007f04552ad7e7 in new_threadstate () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/libpython3.10.so.1.0
    #1  0x00007f04552adaa1 in PyGILState_Ensure () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/libpython3.10.so.1.0
    #2  0x00007f040afd4f32 in std::_Function_handler<void (carla::client::WorldSnapshot), MakeCallback(boost::python::api::object)::{lambda(auto:1)#1}>::_M_invoke(std::_Any_data const&, carla::client::WorldSnapshot&&) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #3  0x00007f040b1d4ab1 in carla::client::detail::CallbackList<carla::client::WorldSnapshot>::Call(carla::client::WorldSnapshot) const () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #4  0x00007f040b1d424a in std::_Function_handler<void (carla::Buffer), carla::client::detail::Episode::Listen()::{lambda(auto:1)#1}>::_M_invoke(std::_Any_data const&, carla::Buffer&&) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #5  0x00007f040b23fc41 in boost::asio::detail::completion_handler<boost::asio::detail::binder0<carla::streaming::detail::tcp::Client::ReadData()::{lambda()#1}::operator()() const::{lambda(boost::system::error_code, unsigned long)#1}::operator()(boost::system::error_code, unsigned long) const::{lambda()#1}>, boost::asio::io_context::basic_executor_type<std::allocator<void>, 0ul> >::do_complete(void*, boost::asio::detail::scheduler_operation*, boost::system::error_code const&, unsigned long) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #6  0x00007f040b24ae85 in boost::asio::detail::strand_service::do_complete(void*, boost::asio::detail::scheduler_operation*, boost::system::error_code const&, unsigned long) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #7  0x00007f040b1a94f5 in boost::asio::detail::scheduler::do_run_one(boost::asio::detail::conditionally_enabled_mutex::scoped_lock&, boost::asio::detail::scheduler_thread_info&, boost::system::error_code const&) ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #8  0x00007f040b199351 in boost::asio::detail::scheduler::run(boost::system::error_code&) [clone .isra.0] () from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #9  0x00007f040b1ac1cb in std::thread::_State_impl<std::thread::_Invoker<std::tuple<carla::ThreadPool::AsyncRun(unsigned long)::{lambda()#1}> > >::_M_run() ()
       from /nix/store/zqj9irpw63pal9r4671p1gjd9jiw5sid-ros-env/lib/python3.10/site-packages/carla/libcarla.cpython-310-x86_64-linux-gnu.so
    #10 0x00007f040bce05c3 in execute_native_thread_routine () from /nix/store/2fpmbk0g0ggm9zq89af7phvvvv8dnm7n-gcc-12.3.0-lib/lib/libstdc++.so.6
    #11 0x00007f045509fdd4 in start_thread () from /nix/store/1x4ijm9r1a88qk7zcmbbfza324gx1aac-glibc-2.37-8/lib/libc.so.6
    #12 0x00007f04551219b0 in clone3 () from /nix/store/1x4ijm9r1a88qk7zcmbbfza324gx1aac-glibc-2.37-8/lib/libc.so.6

It turns out that its caused by releasing GIL for too long. We fix it
by releasing the GIL only for the actual libcarla call and
constructing Python objects with GIL locked.

---------

Co-authored-by: bernat <bernatx@gmail.com>
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