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@Eisoc
Eisoc committed Oct 6, 2023
1 parent f5b7d93 commit e286b90
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10 changes: 5 additions & 5 deletions carla_ad_demo/launch/ad_agent_waypoint.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ def generate_launch_description():
########
launch.actions.DeclareLaunchArgument(
name='fixed_delta_seconds',
default_value='0.02'
default_value='0.04'
),
launch.actions.DeclareLaunchArgument(
name='role_name',
Expand All @@ -90,19 +90,19 @@ def generate_launch_description():
),
launch.actions.DeclareLaunchArgument(
name='nbr_vehicles',
default_value='20'
default_value='25'
),
launch.actions.DeclareLaunchArgument(
name='nbr_walkers',
default_value='35'
default_value='0'
),
launch.actions.DeclareLaunchArgument(
name='nbr_frame',
default_value='1000'
default_value='2000'
),
launch.actions.DeclareLaunchArgument(
name='radius',
default_value='150'
default_value='200'
),
launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.PythonLaunchDescriptionSource(
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4 changes: 2 additions & 2 deletions carla_ros_bridge/src/carla_ros_bridge/bridge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -425,14 +425,14 @@ def main(args=None):
carla_bridge.logfatal("CARLA python module version {} required. Found: {}".format(
CarlaRosBridge.CARLA_VERSION, dist.version))
sys.exit(1)

'''
if LooseVersion(carla_client.get_server_version()) != \
LooseVersion(carla_client.get_client_version()):
carla_bridge.logwarn(
"Version mismatch detected: You are trying to connect to a simulator that might be incompatible with this API. Client API version: {}. Simulator API version: {}"
.format(carla_client.get_client_version(),
carla_client.get_server_version()))

'''
carla_world = carla_client.get_world()

if "town" in parameters and not parameters['passive']:
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165 changes: 154 additions & 11 deletions carla_waypoint_publisher/src/carla_waypoint_publisher/carla_waypoint_publisher.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ def __init__(self):
self.RGB_left = None
self.RGB_right = None
self.ins_segmc = None
self.vehicle_list = []
self.vehicles_list = []
# depth = gen.Depth(MyCar, world, actor_list, folder_output, right_transform)
self.originDepth = None
self.normals = None
Expand Down Expand Up @@ -501,14 +501,24 @@ def find_ego_vehicle_actor():
while world.get_snapshot().timestamp.elapsed_seconds-start < time_stop: world.tick()
print("MyCar stopped")
'''

'''
# Set sensors transformation from MyCar
lidar_transform = carla.Transform(carla.Location(x=0, y=0, z=1.80))
left_transform = carla.Transform(carla.Location(x=2.0, y=-0.2, z=1.4))
right_transform = carla.Transform(carla.Location(x=2.0, y=0.2, z=1.4))
with open(folder_output+"/start_pose.txt", 'a') as pose :
print("left camera pose: " + str(left_transform)+ "right camera pose: " + str(right_transform),file=pose)

'''
lidar_transform = carla.Transform(carla.Location(x=0, y=0, z=2.5))
camera_one_transform = carla.Transform(carla.Location(x=0.5,y=0.0,z=2.5))
camera_two_transform = carla.Transform(carla.Location(x=0.25,y=0.5,z=2.5),carla.Rotation(0.0,45.0,0.0))
camera_three_transform = carla.Transform(carla.Location(x=0.0,y=0.5,z=2.5),carla.Rotation(0.0,90.0,0.0))
camera_four_transform = carla.Transform(carla.Location(x=-0.25,y=0.5,z=2.5),carla.Rotation(0.0,135.0,0.0))
camera_five_transform = carla.Transform(carla.Location(x=-0.5,y=0,z=2.5),carla.Rotation(0.0,180.0,0.0))
camera_six_transform = carla.Transform(carla.Location(x=-0.25,y=-0.5,z=2.5),carla.Rotation(0.0,225.0,0.0))
camera_seven_transform = carla.Transform(carla.Location(x=0.,y=-0.5,z=2.5),carla.Rotation(0.0,270.0,0.0))
camera_eight_transform = carla.Transform(carla.Location(x=0.25,y=-0.5,z=2.5),carla.Rotation(0.0,315.0,0.0))

# Take a screenshot#We dont need this
#gen.screenshot(MyCar, world, actor_list, folder_output, carla.Transform(carla.Location(x=0.0, y=0, z=2.0), carla.Rotation(pitch=0, yaw=0, roll=0)))

Expand All @@ -518,10 +528,12 @@ def find_ego_vehicle_actor():

self.first_call = False
self.clear_directory(folder_output)
gen.Depth.sensor_id_glob = 20
'''
gen.RGB_left.sensor_id_glob = 0
gen.RGB_right.sensor_id_glob = 0
gen.IS.sensor_id_glob = 10
gen.Depth.sensor_id_glob = 20
gen.HDL64E.sensor_id_glob = 100
gen.IMU.sensor_id_glob = 0
gen.Optical.sensor_id_glob = 0
Expand All @@ -532,19 +544,109 @@ def find_ego_vehicle_actor():
self.ins_segmc = gen.IS(MyCar, world, actor_list, folder_output, right_transform)
# depth = gen.Depth(MyCar, world, actor_list, folder_output, right_transform)
self.originDepth = gen.Original_Depth(MyCar, world, actor_list, folder_output, right_transform)
self.normals = gen.Normal(MyCar, world, actor_list, folder_output, right_transform)
self.optical = gen.Optical(MyCar, world, actor_list, folder_output, right_transform)
self.IMU = gen.IMU(MyCar, world, actor_list, folder_output, right_transform)
print("sensors. imu and ss,last test!")
self.SemSeg = gen.SS(MyCar, world, actor_list, folder_output, right_transform)

'''

#self.SemSeg = gen.SS(MyCar, world, actor_list, folder_output, right_transform)
gen.RGB_one.sensor_id_glob = 0
#gen.RGB_two.sensor_id_glob = 1
gen.RGB_three.sensor_id_glob=2
#gen.RGB_four.sensor_id_glob=3
gen.RGB_five.sensor_id_glob=4
#gen.RGB_six.sensor_id_glob=5
gen.RGB_seven.sensor_id_glob=6
#gen.RGB_eight.sensor_id_glob=7

gen.IS_one.sensor_id_glob = 10
#gen.IS_two.sensor_id_glob = 11
gen.IS_three.sensor_id_glob = 12
#gen.IS_four.sensor_id_glob = 13
gen.IS_five.sensor_id_glob = 14
#gen.IS_six.sensor_id_glob = 15
gen.IS_seven.sensor_id_glob = 16
#gen.IS_eight.sensor_id_glob = 17

gen.Original_Depth_one.sensor_id_glob = 30
#gen.Original_Depth_two.sensor_id_glob = 31
gen.Original_Depth_three.sensor_id_glob = 32
#gen.Original_Depth_four.sensor_id_glob = 33
gen.Original_Depth_five.sensor_id_glob= 34
#gen.Original_Depth_six.sensor_id_glob= 35
gen.Original_Depth_seven.sensor_id_glob= 36
#gen.Original_Depth_eight.sensor_id_glob= 37
'''
gen.Normal_one.sensor_id_glob = 40
gen.Normal_two.sensor_id_glob = 41
gen.Normal_three.sensor_id_glob = 42
gen.Normal_four.sensor_id_glob = 43
gen.Normal_five.sensor_id_glob = 44
gen.Normal_six.sensor_id_glob = 45
gen.Normal_seven.sensor_id_glob = 46
gen.Normal_eight.sensor_id_glob = 47
'''

gen.Depth.sensor_id_glob = 20
gen.HDL64E.sensor_id_glob = 100
gen.IMU.sensor_id_glob = 0
gen.Optical.sensor_id_glob = 0


self.normals = gen.Normal(MyCar, world, actor_list, folder_output, camera_one_transform)
self.VelodyneHDL64 = gen.HDL64E(MyCar, world, actor_list, folder_output, lidar_transform)
self.RGB_one = gen.RGB_one(MyCar, world, actor_list, folder_output, camera_one_transform)
#self.RGB_two = gen.RGB_two(MyCar, world, actor_list, folder_output, camera_two_transform)
self.RGB_three= gen.RGB_three(MyCar, world, actor_list, folder_output, camera_three_transform)

#self.RGB_four = gen.RGB_four(MyCar, world, actor_list, folder_output, camera_four_transform)

self.RGB_five = gen.RGB_five(MyCar, world, actor_list, folder_output, camera_five_transform)
#self.RGB_six = gen.RGB_six(MyCar, world, actor_list, folder_output, camera_six_transform)
self.RGB_seven = gen.RGB_seven(MyCar, world, actor_list, folder_output, camera_seven_transform)
#self.RGB_eight = gen.RGB_eight(MyCar, world, actor_list, folder_output, camera_eight_transform)

self.ins_segmc_one = gen.IS_one(MyCar, world, actor_list, folder_output, camera_one_transform)
#self.ins_segmc_two = gen.IS_two(MyCar, world, actor_list, folder_output, camera_two_transform)
self.ins_segmc_three = gen.IS_three(MyCar, world, actor_list, folder_output, camera_three_transform)
#self.ins_segmc_four = gen.IS_four(MyCar, world, actor_list, folder_output, camera_four_transform)
self.ins_segmc_five = gen.IS_five(MyCar, world, actor_list, folder_output, camera_five_transform)
#self.ins_segmc_six = gen.IS_six(MyCar, world, actor_list, folder_output, camera_six_transform)
self.ins_segmc_seven = gen.IS_seven(MyCar, world, actor_list, folder_output, camera_seven_transform)
#self.ins_segmc_eight = gen.IS_eight(MyCar, world, actor_list, folder_output, camera_eight_transform)
# depth = gen.Depth(MyCar, world, actor_list, folder_output, right_transform)
self.originDepth_one = gen.Original_Depth_one(MyCar, world, actor_list, folder_output, camera_one_transform)
#self.originDepth_two = gen.Original_Depth_two(MyCar, world, actor_list, folder_output, camera_two_transform)
self.originDepth_three = gen.Original_Depth_three(MyCar, world, actor_list, folder_output, camera_three_transform)
#self.originDepth_four = gen.Original_Depth_four(MyCar, world, actor_list, folder_output, camera_four_transform)
self.originDepth_five = gen.Original_Depth_five(MyCar, world, actor_list, folder_output, camera_five_transform)
#self.originDepth_six = gen.Original_Depth_six(MyCar, world, actor_list, folder_output, camera_six_transform)
self.originDepth_seven = gen.Original_Depth_seven(MyCar, world, actor_list, folder_output, camera_seven_transform)
#self.originDepth_eight = gen.Original_Depth_eight(MyCar, world, actor_list, folder_output, camera_eight_transform)
'''
self.normals_one = gen.Normal_one(MyCar, world, actor_list, folder_output, camera_one_transform)
self.normals_two = gen.Normal_two(MyCar, world, actor_list, folder_output, camera_two_transform)
self.normals_three = gen.Normal_three(MyCar, world, actor_list, folder_output, camera_three_transform)
self.normals_four = gen.Normal_four(MyCar, world, actor_list, folder_output, camera_four_transform)
self.normals_five = gen.Normal_five(MyCar, world, actor_list, folder_output, camera_five_transform)
self.normals_six = gen.Normal_six(MyCar, world, actor_list, folder_output, camera_six_transform)
self.normals_seven = gen.Normal_seven(MyCar, world, actor_list, folder_output, camera_seven_transform)
self.normals_eight = gen.Normal_eight(MyCar, world, actor_list, folder_output, camera_eight_transform)
'''
#optical = gen.Optical(MyCar, world, actor_list, folder_output, camera_one_transform)
self.IMU = gen.IMU(MyCar, world, actor_list, folder_output, camera_one_transform)




print("sensors established, first call finished")
vehicles_id_list = gen.spawn_npc(client, nbr_vehicles, nbr_walkers, vehicles_id_list, all_walkers_id, self.radius)
print(vehicles_id_list)
print("spawn points finished!")
for x in vehicles_id_list:
vehicles_list.append(x)
self.vehicle_list = vehicles_list
self.vehicles_list = vehicles_list
#must spawn npc after sensor established, or server will crash, out of time, maybe a bug


Expand Down Expand Up @@ -592,8 +694,10 @@ def find_ego_vehicle_actor():
self.frame_recorder = frame_current # get the value of last loop

frame_current = self.VelodyneHDL64.save()
self.normals.save() #Store location for Mycar


self.normals.save() #Store location for Mycar
'''
# M- OP and IS not supported
self.optical.save()
self.RGB_left.save()
Expand All @@ -603,13 +707,52 @@ def find_ego_vehicle_actor():
self.originDepth.save()
self.SemSeg.save()
self.IMU.save(MyCar,self.vehicle_list)#Here also stored all vehicles location
'''
"""
if MyCar.is_at_traffic_light():
traffic_light = MyCar.get_traffic_light()
if traffic_light.get_state() == carla.TrafficLightState.Red:
traffic_light.set_state(carla.TrafficLightState.Green)
"""

'''
self.normals_one.save() #Store location for Mycar
self.normals_two.save()
self.normals_three.save()
self.normals_four.save()
self.normals_five.save()
self.normals_six.save()
self.normals_seven.save()
self.normals_eight.save()
'''
#optical.save()
self.RGB_one.save()
#self.RGB_two.save()
self.RGB_three.save()
#self.RGB_four.save()
self.RGB_five.save()
#self.RGB_six.save()
self.RGB_seven.save()
#self.RGB_eight.save()

self.ins_segmc_one.save()
#self.ins_segmc_two.save()
self.ins_segmc_three.save()
#self.ins_segmc_four.save()
self.ins_segmc_five.save()
#self.ins_segmc_six.save()
self.ins_segmc_seven.save()
#self.ins_segmc_eight.save()
# depth.save()
self.originDepth_one.save()
#self.originDepth_two.save()
self.originDepth_three.save()
#self.originDepth_four.save()
self.originDepth_five.save()
#self.originDepth_six.save()
self.originDepth_seven.save()
#self.originDepth_eight.save()
#SemSeg.save()
self.IMU.save(MyCar, self.vehicles_list)#Here also stored all vehicles location
# All sensors produce first data at the same time (this ts)
gen.follow(MyCar.get_transform(), world)

Expand All @@ -636,7 +779,7 @@ def find_ego_vehicle_actor():
self.world.tick()


time.sleep(0.1)
time.sleep(0.016)
# self.world.tick() # Pass to the next simulator frame

#VelodyneHDL64.save_poses()
Expand Down
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