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ROS Scenario Runner

This is a wrapper to execute OpenScenarios with the CARLA scenario runner via ROS.

It is best used from within the rviz_carla_plugin.

Currently it is not supported to switch the CARLA Town. Therefore the scenario needs to use the currently active Town.

Please have a look at the example scenario, especially at the way the ros-controller is set up.

<Controller name="EgoVehicleAgent">
    <Properties>
        <Property name="module" value="carla_ros_scenario_runner.ros_vehicle_control" />
        <Property name="launch" value="carla_ad_agent.launch"/>
        <Property name="launch-package" value="carla_ad_agent"/>
    </Properties>
</Controller>

By this section within the openscenario definition, an instance of carla_ad_agent is launched (i.e. roslaunch <launch-package> <launch> .. is executed). Any aditional <Property> is appened as ros parameter (name:=value).

Setup

Please follow the scenario runner Getting Started and verify, that scenario_runner is working, if started manually.

Additionally, please execute:

sudo apt install python-pexpect

Startup

The environment variables are forwarded to scenario_runner, therefore set them to:

export PYTHONPATH=$PYTHONPATH:<path_to_carla>/PythonAPI/carla-<carla_version_and_arch>.egg:<path_to_carla>/PythonAPI/carla/

To run the ROS node:

roslaunch carla_ros_scenario_runner carla_ros_scenario_runner.launch scenario_runner_path:=<path_to_scenario_runner>

To run a scenario from commandline:

rosservice call /scenario_runner/execute_scenario "{ 'scenario': { 'scenario_file': '<full_path_to_openscenario_file>' } }"

Available services

Service Description Type
/scenario_runner/execute_scenario Execute a scenario. If another scenario is currently running, it gets stopped. carla_ros_scenario_runner_types.ExecuteScenario

Available topics

Topic Description Type
/scenario_runner/status The current status of the scenario runner execution (e.g. used by the rviz_carla_plugin) carla_ros_scenario_runner_types.CarlaScenarioRunnerStatus