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Send vehicle control commands only when reciving ROS input #22

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merged 3 commits into from Jan 7, 2019
Merged

Send vehicle control commands only when reciving ROS input #22

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8e52b30
Send vehicle control commands only when reciving ROS input
fabianoboril Jan 3, 2019
de0d63e
Merge branch 'master' into fix/vehicleControl
fabianoboril Jan 3, 2019
854f239
Update ego_vehicle.py
fabianoboril Jan 6, 2019
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11 changes: 9 additions & 2 deletions src/carla_ros_bridge/ego_vehicle.py
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Expand Up @@ -161,8 +161,15 @@ def apply_control(self):
vehicle_control.steer = self.info.output.steer
vehicle_control.throttle = self.info.output.throttle
vehicle_control.reverse = self.info.output.reverse
# send control command out
self.carla_actor.apply_control(vehicle_control)

# send control command out, if there is a ROS control publisher
ros_control_topic = rospy.get_published_topics(namespace=self.topic_name() + "/ackermann_cmd")
print(ros_control_topic)
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ros_control_topic.extend(rospy.get_published_topics(namespace=self.topic_name() + "/vehicle_control_cmd"))
print(ros_control_topic)
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if ros_control_topic:
self.carla_actor.apply_control(vehicle_control)


def update_current_values(self):
"""
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