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[Feature]: Launch empty map for development #73

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nylser opened this issue Dec 1, 2022 · 0 comments · Fixed by #87
Closed

[Feature]: Launch empty map for development #73

nylser opened this issue Dec 1, 2022 · 0 comments · Fixed by #87
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nylser commented Dec 1, 2022

Description

The current setup after #27 does not anymore start with an empty map for development, but rather starts the leaderboard evaluation by default.

This is not desirable for development purposes, where we need to test basic functionality, preferably on an empty map.

Definition of Done

  • development mode that launches agent and carla-ros-bridge
  • load fitting map by default, add agent sensors to vehicle
@nylser nylser self-assigned this Dec 1, 2022
nylser added a commit that referenced this issue Dec 5, 2022
@nylser
feat(#73): Introduce dev launch file with empty map
6955021
nylser added a commit that referenced this issue Dec 6, 2022
@nylser
feat(#73): Add carla_spawn_objects to spawn vehicle
7beb43d
nylser added a commit that referenced this issue Dec 6, 2022
@nylser
feat(#73): Spawn a vehicle with the correct role name
4678990
nylser added a commit that referenced this issue Dec 6, 2022
@nylser
feat(#73): Spawn correct sensors & launch rviz
bd1a661
nylser added a commit that referenced this issue Dec 6, 2022
@nylser
fix(#73): Adjust sensor orientations
26a7634
@nylser nylser mentioned this issue Dec 6, 2022
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@nylser nylser linked a pull request Dec 6, 2022 that will close this issue
73 feature launch empty map for development #87
Merged
7 tasks
nylser added a commit that referenced this issue Dec 10, 2022
@nylser
73 feature launch empty map for development (#87)
59117a6 
# Description

Added a launch file that is started by default in development. It
starts:

- Carla ROS Bridge
- Carla Spawn Objects to spawn the vehicle with appropriate sensors
- RVIZ (with default configuration, to show some sensors)
- Our Agent launchfile

By default, it starts the car on the spawnpoint of the first route of
routes_devtest.xml in the leaderboard.

Fixes #73 

## Time invested

@nylser 8h (a lot of trial and error)

## Type of change

- New feature (non-breaking change which adds functionality)

## Does this PR introduce a breaking change?

No, it just makes the development environment more usable.

## Most important changes

The new dev.launch file, as well as the dev_objects.json that contains
the sensors and the car spawnpoint.

# Checklist:

- [x] My code follows the style guidelines of this project
- [x] I have performed a self-review of my own code
- [x I have commented my code, particularly in hard-to-understand areas
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x I have added tests that prove my fix is effective or that my
feature works (might be obsolete with CI later on)
- [x] New and existing unit tests pass locally with my changes (might be
obsolete with CI later on)
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73 feature launch empty map for development ll7/paf22
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