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Add a minimal ros bridge: camera, lidar, control
First version of the bridge written in python. Inspired by the work of WenchaoDing (https://gist.github.com/WenchaoDing/8bdf2b6753f0cc6cb1c4019529a79c9f).
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cmake_minimum_required(VERSION 2.8.3) | ||
project(carla_ros_bridge) | ||
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## Compile as C++11, supported in ROS Kinetic and newer | ||
# add_compile_options(-std=c++11) | ||
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## 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 | ||
) | ||
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## System dependencies are found with CMake's conventions | ||
# find_package(Boost REQUIRED COMPONENTS system) | ||
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## 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() | ||
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################################################ | ||
## Declare ROS messages, services and actions ## | ||
################################################ | ||
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## 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 ...) | ||
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## Generate messages in the 'msg' folder | ||
# add_message_files( | ||
# FILES | ||
# Message1.msg | ||
# Message2.msg | ||
# ) | ||
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## Generate services in the 'srv' folder | ||
# add_service_files( | ||
# FILES | ||
# Service1.srv | ||
# Service2.srv | ||
# ) | ||
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## Generate actions in the 'action' folder | ||
# add_action_files( | ||
# FILES | ||
# Action1.action | ||
# Action2.action | ||
# ) | ||
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## Generate added messages and services with any dependencies listed here | ||
# generate_messages( | ||
# DEPENDENCIES | ||
# sensor_msgs | ||
# ) | ||
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################################################ | ||
## Declare ROS dynamic reconfigure parameters ## | ||
################################################ | ||
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## 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 | ||
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## Generate dynamic reconfigure parameters in the 'cfg' folder | ||
# generate_dynamic_reconfigure_options( | ||
# cfg/DynReconf1.cfg | ||
# cfg/DynReconf2.cfg | ||
# ) | ||
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################################### | ||
## 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 | ||
) | ||
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########### | ||
## Build ## | ||
########### | ||
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## Specify additional locations of header files | ||
## Your package locations should be listed before other locations | ||
include_directories( | ||
# include | ||
${catkin_INCLUDE_DIRS} | ||
) | ||
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## Declare a C++ library | ||
# add_library(${PROJECT_NAME} | ||
# src/${PROJECT_NAME}/carla_ros_bridge.cpp | ||
# ) | ||
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## Add cmake target dependencies of the library | ||
## as an example, code may need to be generated before libraries | ||
## either from message generation or dynamic reconfigure | ||
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
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## Declare a C++ executable | ||
## With catkin_make all packages are built within a single CMake context | ||
## The recommended prefix ensures that target names across packages don't collide | ||
# add_executable(${PROJECT_NAME}_node src/carla_ros_bridge_node.cpp) | ||
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## 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(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") | ||
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## Add cmake target dependencies of the executable | ||
## same as for the library above | ||
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
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## Specify libraries to link a library or executable target against | ||
# target_link_libraries(${PROJECT_NAME}_node | ||
# ${catkin_LIBRARIES} | ||
# ) | ||
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############# | ||
## Install ## | ||
############# | ||
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# all install targets should use catkin DESTINATION variables | ||
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html | ||
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## 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} | ||
# ) | ||
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## 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 ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
# ) | ||
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## Mark cpp header files for installation | ||
# install(DIRECTORY include/${PROJECT_NAME}/ | ||
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | ||
# FILES_MATCHING PATTERN "*.h" | ||
# PATTERN ".svn" EXCLUDE | ||
# ) | ||
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## Mark other files for installation (e.g. launch and bag files, etc.) | ||
# install(FILES | ||
# # myfile1 | ||
# # myfile2 | ||
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
# ) | ||
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############# | ||
## Testing ## | ||
############# | ||
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## Add gtest based cpp test target and link libraries | ||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_carla_ros_bridge.cpp) | ||
# if(TARGET ${PROJECT_NAME}-test) | ||
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) | ||
# endif() | ||
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## Add folders to be run by python nosetests | ||
# catkin_add_nosetests(test) |
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# Ros bridge for Carla simulator | ||
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This ros package aims at providing a simple ros bridge for carla simulator. | ||
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![rviz setup](./assets/rviz_carla_default.png "rviz") | ||
![depthcloud](./assets/depth_cloud_and_lidar.png "depthcloud") | ||
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![short video](https://youtu.be/S_NoN2GBtdY) | ||
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# Features/Roadmap/TODO | ||
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- [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 | ||
- [ ] Better looking color map for segmentation | ||
- [ ] Support dynamic change (restarting simulation using a topic/rosparam) | ||
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# Setup | ||
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Create a catkin workspace and install carla_ros_bridge package | ||
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mdkir -p ~/catkin_ws/src | ||
ln -s path_to_carla_ros_bridge ~/catkin_ws/src/ | ||
source /opt/ros/lunar/setup.bash # if you use kinetic source /opt/ros/kinetic/setup.bash | ||
cd ~/catkin_ws ; catkin_make | ||
source ~/catkin_ws/devel/setup.bash | ||
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Then install dependencies using rosdep (you can also use apt-get) | ||
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rosdep install --from-paths ~/catkin_ws/ | ||
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# Start the ros bridge | ||
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First run the simulator (see carla documentation) | ||
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./CarlaUE4.sh /Game/Maps/Town01 -carla-server -benchmark -fps=15 -windowed -ResX=320 -ResY=240 | ||
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Then start the ros bridge: | ||
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roslaunch carla_ros_client client.launch | ||
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To start the ros bridge with rviz use: | ||
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roslaunch carla_ros_client client_with_rviz.launch | ||
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You can setup the wanted camera/sensors in config/settings.yaml. | ||
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# Autopilot control | ||
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To enable autopilot control set the ros param carla_autopilot to True | ||
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rosparam set carla_autopilot True | ||
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# Manual control | ||
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To enable manual control set the ros param carla_autopilot to False | ||
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rosparam set carla_autopilot False | ||
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Then you can send command to the car using the /ackermann_cmd topic. | ||
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Example of forward movements, speed in in meters/sec. | ||
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rostopic pub /cmd_vel ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, | ||
jerk: 0.0}" -r 10 | ||
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Example of forward with steering | ||
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rostopic pub /cmd_vel 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. | ||
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Example for backward : | ||
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rostopic pub /cmd_vel ackermann_msgs/AckermannDrive "{steering_angle: 0, steering_angle_velocity: 0.0, speed: -10, acceleration: 0.0, | ||
jerk: 0.0}" -r 10 |
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<launch> | ||
<arg name='enable_rosbag' default='False'/> | ||
<rosparam file="$(find carla_ros_bridge)/config/settings.yaml" command="load" /> | ||
<param name="carla_autopilot" type="boolean" value="True" /> | ||
<param name='enable_rosbag' type="boolean" value="$(arg enable_rosbag)"/> | ||
<node pkg="carla_ros_bridge" name="carla_ros_bridge" type="client.py" output="screen"/> | ||
</launch> |
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<launch> | ||
<include file="$(find carla_ros_bridge)/client.launch" pass_all_args="True"/> | ||
<param name ="/use_sim_time" value="true"/> | ||
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find carla_ros_bridge)/config/carla_default_rviz.cfg"/> | ||
</launch> |
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