simulator code updated

README.md

@@ -43,7 +43,7 @@ For the full documentation of the development process, please visit: [neilnie.co
 Bon Voyage 😀
 
 # Simulation
-If you want to run the code inside the Carla self-driving simulator, please refer to this [documentation](./src/simulation/README.md).
+Building a self-driving car is hard. Not everyone has access to expensive hardware. If you want to run the code inside the CARLA self-driving simulator, please refer to this [documentation](./src/simulation/README.md). The ROS system in this project can run on the CARLA simulator. 
 
 <img src="./media/simulator.png" alt="Drawing" width="480"/>
 

build/CMakeFiles/Makefile.cmake

@@ -10,8 +10,6 @@ set(CMAKE_MAKEFILE_DEPENDS
   "CMakeFiles/3.5.1/CMakeCCompiler.cmake"
   "CMakeFiles/3.5.1/CMakeCXXCompiler.cmake"
   "CMakeFiles/3.5.1/CMakeSystem.cmake"
-  "CMakeFiles/feature_tests.c"
-  "CMakeFiles/feature_tests.cxx"
   "catkin/catkin_generated/version/package.cmake"
   "catkin_generated/installspace/_setup_util.py"
   "catkin_generated/order_packages.cmake"
@@ -287,92 +285,27 @@ set(CMAKE_MAKEFILE_DEPENDS
   "/opt/ros/kinetic/share/xmlrpcpp/cmake/xmlrpcpp-extras.cmake"
   "/opt/ros/kinetic/share/xmlrpcpp/cmake/xmlrpcppConfig-version.cmake"
   "/opt/ros/kinetic/share/xmlrpcpp/cmake/xmlrpcppConfig.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeCCompiler.cmake.in"
-  "/usr/share/cmake-3.5/Modules/CMakeCCompilerABI.c"
   "/usr/share/cmake-3.5/Modules/CMakeCInformation.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeCXXCompiler.cmake.in"
-  "/usr/share/cmake-3.5/Modules/CMakeCXXCompilerABI.cpp"
   "/usr/share/cmake-3.5/Modules/CMakeCXXInformation.cmake"
   "/usr/share/cmake-3.5/Modules/CMakeCommonLanguageInclude.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeCompilerIdDetection.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeConfigurableFile.in"
-  "/usr/share/cmake-3.5/Modules/CMakeDetermineCCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeDetermineCXXCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeDetermineCompileFeatures.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeDetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeDetermineCompilerABI.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeDetermineCompilerId.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeDetermineSystem.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeFindBinUtils.cmake"
   "/usr/share/cmake-3.5/Modules/CMakeFindDependencyMacro.cmake"
   "/usr/share/cmake-3.5/Modules/CMakeGenericSystem.cmake"
   "/usr/share/cmake-3.5/Modules/CMakeLanguageInformation.cmake"
   "/usr/share/cmake-3.5/Modules/CMakeParseArguments.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeParseImplicitLinkInfo.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeSystem.cmake.in"
   "/usr/share/cmake-3.5/Modules/CMakeSystemSpecificInformation.cmake"
   "/usr/share/cmake-3.5/Modules/CMakeSystemSpecificInitialize.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeTestCCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeTestCXXCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeTestCompilerCommon.cmake"
-  "/usr/share/cmake-3.5/Modules/CMakeUnixFindMake.cmake"
-  "/usr/share/cmake-3.5/Modules/CheckFunctionExists.c"
-  "/usr/share/cmake-3.5/Modules/CheckIncludeFile.c.in"
   "/usr/share/cmake-3.5/Modules/CheckIncludeFile.cmake"
   "/usr/share/cmake-3.5/Modules/CheckLibraryExists.cmake"
   "/usr/share/cmake-3.5/Modules/CheckSymbolExists.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/ADSP-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/ARMCC-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/AppleClang-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Borland-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Clang-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Clang-DetermineCompilerInternal.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Comeau-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Compaq-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Compaq-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Cray-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Embarcadero-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Fujitsu-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/GHS-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/GNU-C-FeatureTests.cmake"
   "/usr/share/cmake-3.5/Modules/Compiler/GNU-C.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/GNU-CXX-FeatureTests.cmake"
   "/usr/share/cmake-3.5/Modules/Compiler/GNU-CXX.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/GNU-DetermineCompiler.cmake"
   "/usr/share/cmake-3.5/Modules/Compiler/GNU.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/HP-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/HP-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/IAR-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/IBMCPP-C-DetermineVersionInternal.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/IBMCPP-CXX-DetermineVersionInternal.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Intel-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/MIPSpro-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/MSVC-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/OpenWatcom-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/PGI-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/PathScale-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/SCO-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/SDCC-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/SunPro-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/SunPro-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/TI-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/TinyCC-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/VisualAge-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/VisualAge-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/Watcom-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/XL-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/XL-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/zOS-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.5/Modules/Compiler/zOS-CXX-DetermineCompiler.cmake"
   "/usr/share/cmake-3.5/Modules/FindBoost.cmake"
   "/usr/share/cmake-3.5/Modules/FindGTest.cmake"
   "/usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake"
   "/usr/share/cmake-3.5/Modules/FindPackageMessage.cmake"
   "/usr/share/cmake-3.5/Modules/FindPythonInterp.cmake"
   "/usr/share/cmake-3.5/Modules/FindThreads.cmake"
-  "/usr/share/cmake-3.5/Modules/Internal/FeatureTesting.cmake"
-  "/usr/share/cmake-3.5/Modules/MultiArchCross.cmake"
-  "/usr/share/cmake-3.5/Modules/Platform/Linux-CXX.cmake"
   "/usr/share/cmake-3.5/Modules/Platform/Linux-GNU-C.cmake"
   "/usr/share/cmake-3.5/Modules/Platform/Linux-GNU-CXX.cmake"
   "/usr/share/cmake-3.5/Modules/Platform/Linux-GNU.cmake"
@@ -391,11 +324,6 @@ set(CMAKE_MAKEFILE_OUTPUTS
 
 # Byproducts of CMake generate step:
 set(CMAKE_MAKEFILE_PRODUCTS
-  "CMakeFiles/3.5.1/CMakeSystem.cmake"
-  "CMakeFiles/3.5.1/CMakeCCompiler.cmake"
-  "CMakeFiles/3.5.1/CMakeCXXCompiler.cmake"
-  "CMakeFiles/3.5.1/CMakeCCompiler.cmake"
-  "CMakeFiles/3.5.1/CMakeCXXCompiler.cmake"
   "catkin_generated/stamps/Project/package.xml.stamp"
   "catkin_generated/installspace/_setup_util.py"
   "catkin_generated/stamps/Project/_setup_util.py.stamp"

build/catkin_generated/setup_cached.sh

@@ -7,8 +7,4 @@
 # new environment variables
 
 # modified environment variables
-export LD_LIBRARY_PATH="/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/usr/local/cuda-9.0/lib64"
-export PKG_CONFIG_PATH="/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig"
-export PWD="/home/neil/Workspace/self-driving-golf-cart/build"
-export PYTHONPATH="/opt/ros/kinetic/lib/python2.7/dist-packages"
-export ROS_PACKAGE_PATH="/home/neil/Workspace/self-driving-golf-cart/src:/opt/ros/kinetic/share"
+export PWD="/home/neil/Workspace/self-driving-golf-cart/build"

src/simulation/client.launch

@@ -1,7 +1,12 @@
 <launch>
-  <arg name='rosbag_fname' default=''/>
-  <param name="rosbag_fname" value="$(arg rosbag_fname)"/>
-  <rosparam file="$(find carla_ros_bridge)/config/settings.yaml" command="load" />
-  <param name="carla_autopilot" type="boolean" value="True" />
-  <node pkg="carla_ros_bridge" name="carla_ros_bridge" type="client.py" output="screen"/>
+
+	<!-- --> 
+	<node name="launch_carla" pkg="carla_ros_bridge" type="launch_carla.sh" />
+
+  	<arg name='rosbag_fname' default=''/>
+  	<param name="rosbag_fname" value="$(arg rosbag_fname)"/>
+  	<rosparam file="$(find carla_ros_bridge)/config/settings.yaml" command="load" />
+  	<param name="carla_autopilot" type="boolean" value="True" />
+  	<node pkg="carla_ros_bridge" name="carla_ros_bridge" type="client.py" output="screen"/>
+
 </launch>

src/simulation/config/carla_default_rviz.cfg.rviz

@@ -8,7 +8,7 @@ Panels:
         - /Status1
         - /DepthCloud1/Auto Size1
       Splitter Ratio: 0.5
-    Tree Height: 336
+    Tree Height: 334
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -17,7 +17,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -36,18 +36,18 @@ Panels:
         - /Global Options1
         - /non_player_vehicles1
         - /DepthCloud1/Auto Size1
-      Splitter Ratio: 0.494356662
-    Tree Height: 152
+      Splitter Ratio: 0.4943566620349884
+    Tree Height: 170
 Visualization Manager:
   Class: ""
   Displays:
-    - Alpha: 0.100000001
+    - Alpha: 0.10000000149011612
       Cell Size: 1
       Class: rviz/Grid
       Color: 170; 164; 162
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         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): 0.00999999978
+      Size (m): 0.009999999776482582
       Style: Flat Squares
       Topic: /lidar_0
       Unreliable: false
@@ -192,62 +192,64 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 31.8610725
+      Distance: 31.861072540283203
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 6.99974823
-        Y: 0.798863649
-        Z: 2.89677428e-06
+        X: 6.999748229980469
+        Y: 0.7988636493682861
+        Z: 2.896774276450742e-6
       Focal Shape Fixed Size: false
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.185203522
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.18520352244377136
       Target Frame: base_link
       Value: ThirdPersonFollower (rviz)
-      Yaw: 3.12355685
+      Yaw: 3.5035617351531982
     Saved:
       - Class: rviz/FPS
         Enable Stereo Rendering:
-          Stereo Eye Separation: 0.0599999987
+          Stereo Eye Separation: 0.05999999865889549
           Stereo Focal Distance: 1
           Swap Stereo Eyes: false
           Value: false
         Invert Z Axis: false
         Name: FPS
-        Near Clip Distance: 0.00999999978
-        Pitch: 0.984796941
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.984796941280365
         Position:
-          X: 48.1403351
-          Y: -258.651123
-          Z: 284.474243
+          X: 48.14033508300781
+          Y: -258.651123046875
+          Z: 284.4742431640625
         Target Frame: base_link
         Value: FPS (rviz)
-        Yaw: 1.52198112
+        Yaw: 1.521981120109558
 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: 876
+  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
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
+  T&ime:
     collapsed: false
-  Width: 1543
-  X: 57
-  Y: 24
+  Width: 1680
+  X: 0
+  Y: 30

src/simulation/scripts/launch_carla.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+/home/neil/carla/CarlaUE4.sh -carla-server -windowed -ResX=320 -ResY=240

src/simulation/src/carla_ros_bridge/markers.py

@@ -125,14 +125,6 @@ def get_vehicle_marker(object, header, marker_id=0, is_player=False):
     marker.text = "id = {}".format(marker_id)
     update_marker_pose(object, marker)
 
-    if not is_player:  # related to bug request #322
-        marker.scale.x = marker.scale.x / 100.0
-        marker.scale.y = marker.scale.y / 100.0
-        marker.scale.z = marker.scale.z / 100.0
-
-    # the box pose seems to require a little bump to be well aligned with camera depth
-    marker.pose.position.z += marker.scale.z / 2.0
-
     return marker
 
 
@@ -144,6 +136,7 @@ def update_marker_pose(object, base_marker):
     :param base_marker: marker to update pose
     """
     ros_transform = carla_transform_to_ros_transform(
+        carla_Transform(object.bounding_box.transform) *
         carla_Transform(object.transform))
     base_marker.pose = ros_transform_to_pose(ros_transform)
 

src/simulation/src/carla_ros_bridge/sensors.py

@@ -104,12 +104,22 @@ def _compute_transform(self, sensor_data, cur_time):
         child_frame_id = self.name
 
         t = TransformStamped()
-        t.header.stamp = self.cur_time
+        t.header.stamp = cur_time
         t.header.frame_id = parent_frame_id
         t.child_frame_id = child_frame_id
         t.transform = carla_transform_to_ros_transform(
             self.carla_object.get_transform())
 
+        # for some reasons lidar sends already rotated cloud,
+        # so it is need to ignore pitch and roll
+        r = t.transform.rotation
+        quat = [r.x, r.y, r.z, r.w]
+        roll, pitch, yaw = tf.transformations.euler_from_quaternion(quat)
+        quat = tf.transformations.quaternion_from_euler(0, 0, yaw)
+        t.transform.rotation.x = quat[0]
+        t.transform.rotation.y = quat[1]
+        t.transform.rotation.z = quat[2]
+        t.transform.rotation.w = quat[3]
         self.process_msg_fun('tf', t)
 
 
@@ -186,12 +196,12 @@ def _compute_transform(self, sensor_data, cur_time):
 
         rotation = t.transform.rotation
         quat = [rotation.x, rotation.y, rotation.z, rotation.w]
-        roll, pitch, yaw = tf.transformations.euler_from_quaternion(quat)
-
-        roll -= math.pi / 2.0
-        yaw -= math.pi / 2.0
-
-        quat = tf.transformations.quaternion_from_euler(roll, pitch, yaw)
+        quat_swap = tf.transformations.quaternion_from_matrix(
+            [[0, 0, 1, 0],
+            [-1, 0, 0, 0],
+            [0, -1, 0, 0],
+            [0, 0, 0, 1]])
+        quat = tf.transformations.quaternion_multiply(quat, quat_swap)
 
         t.transform.rotation.x = quat[0]
         t.transform.rotation.y = quat[1]