Merge branch 'dev' into overhaul-agent-parameters

CHANGELOG.md

@@ -8,8 +8,12 @@
  * Added functions to get actor' bones and components names
  * Added functions to get actor' sockets transforms
  * make PythonAPI Windows: Fixed incompatibility issue with Anaconda due `py` command.
+ * Added function to get actor' sockets names
  * Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py) 
+ * Extended debug drawing functions to allow drawing primitives on HUD layer
  * Added possibility to change gravity variable in imui sensor for the accelerometer
+ * Fixed ROS2 native extension build error when ROS2 is installed in the system.
+ * ROS2Native: Force fast-dds dependencies download to avoid build crash when boost_asio and tinyxml2 are not installed in Linux.
  * Unified the settings of the Python agents to use a dictionary structure for most of their parameters which further allows more dynamic changes.
 
 ## CARLA 0.9.15
@@ -39,6 +43,8 @@
   * Fixed bug causing the `FPixelReader::SavePixelsToDisk(PixelData, FilePath)` function to crash due to pixel array not set correctly.
   * Fixed segfaults in Python API due to incorrect GIL locking under Python 3.10.
   * Fixed the import script, where could use any other TilesInfo.txt if the destination folder has many
+  * Fixed PythonAPI not installing on Debian due to deprecated function of distro in setup.py. Less ambiguous error for other posix platforms.
+
 
 ## CARLA 0.9.14
 

Co-Simulation/Sumo/sumo_integration/sumo_simulation.py

@@ -301,7 +301,7 @@ def _get_sumo_net(cfg_file):
     net_file = os.path.join(os.path.dirname(cfg_file), tag.get('value'))
     logging.debug('Reading net file: %s', net_file)
 
-    sumo_net = traci.sumolib.net.readNet(net_file)
+    sumo_net = sumolib.net.readNet(net_file)
     return sumo_net
 
 class SumoSimulation(object):

LibCarla/source/carla/client/Actor.cpp

@@ -64,6 +64,10 @@ namespace client {
     return GetEpisode().Lock()->GetActorSocketRelativeTransforms(*this);
   }
 
+  std::vector<std::string> Actor::GetSocketNames() const {
+    return GetEpisode().Lock()->GetActorSocketNames(*this);
+  }  
+
   void Actor::SetLocation(const geom::Location &location) {
     GetEpisode().Lock()->SetActorLocation(*this, location);
   }

LibCarla/source/carla/client/Actor.h

@@ -76,6 +76,8 @@ namespace client {
 
     std::vector<geom::Transform> GetSocketRelativeTransforms() const;
 
+    std::vector<std::string> GetSocketNames() const;     
+
     /// Teleport the actor to @a location.
     void SetLocation(const geom::Location &location);
 

LibCarla/source/carla/client/DebugHelper.cpp

@@ -35,6 +35,16 @@ namespace client {
     DrawShape(_episode, point, color, life_time, persistent_lines);
   }
 
+  void DebugHelper::DrawHUDPoint(
+      const geom::Location &location,
+      float size,
+      sensor::data::Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::HUDPoint point{location, size};
+    DrawShape(_episode, point, color, life_time, persistent_lines);
+  }
+
   void DebugHelper::DrawLine(
       const geom::Location &begin,
       const geom::Location &end,
@@ -46,6 +56,17 @@ namespace client {
     DrawShape(_episode, line, color, life_time, persistent_lines);
   }
 
+  void DebugHelper::DrawHUDLine(
+      const geom::Location &begin,
+      const geom::Location &end,
+      float thickness,
+      Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::HUDLine line{begin, end, thickness};
+    DrawShape(_episode, line, color, life_time, persistent_lines);
+  }
+
   void DebugHelper::DrawArrow(
       const geom::Location &begin,
       const geom::Location &end,
@@ -59,6 +80,19 @@ namespace client {
     DrawShape(_episode, arrow, color, life_time, persistent_lines);
   }
 
+  void DebugHelper::DrawHUDArrow(
+      const geom::Location &begin,
+      const geom::Location &end,
+      float thickness,
+      float arrow_size,
+      sensor::data::Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::HUDLine line{begin, end, thickness};
+    Shape::HUDArrow arrow{line, arrow_size};
+    DrawShape(_episode, arrow, color, life_time, persistent_lines);
+  }
+
   void DebugHelper::DrawBox(
       const geom::BoundingBox &box,
       const geom::Rotation &rotation,
@@ -70,6 +104,17 @@ namespace client {
     DrawShape(_episode, the_box, color, life_time, persistent_lines);
   }
 
+  void DebugHelper::DrawHUDBox(
+      const geom::BoundingBox &box,
+      const geom::Rotation &rotation,
+      float thickness,
+      sensor::data::Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::HUDBox the_box{box, rotation, thickness};
+    DrawShape(_episode, the_box, color, life_time, persistent_lines);
+  }
+
   void DebugHelper::DrawString(
       const geom::Location &location,
       const std::string &text,

LibCarla/source/carla/client/DebugHelper.h

@@ -30,6 +30,13 @@ namespace client {
         float life_time = -1.0f,
         bool persistent_lines = true);
 
+    void DrawHUDPoint(
+        const geom::Location &location,
+        float size = 0.1f,
+        Color color = Color{255u, 0u, 0u},
+        float life_time = -1.0f,
+        bool persistent_lines = true);
+
     void DrawLine(
         const geom::Location &begin,
         const geom::Location &end,
@@ -38,6 +45,14 @@ namespace client {
         float life_time = -1.0f,
         bool persistent_lines = true);
 
+    void DrawHUDLine(
+        const geom::Location &begin,
+        const geom::Location &end,
+        float thickness = 1.0f,
+        Color color = Color{225u, 0u, 0u},
+        float life_time = -1.0f,
+        bool presistent_lines = true);
+
     void DrawArrow(
         const geom::Location &begin,
         const geom::Location &end,
@@ -47,6 +62,15 @@ namespace client {
         float life_time = -1.0f,
         bool persistent_lines = true);
 
+    void DrawHUDArrow(
+        const geom::Location &begin,
+        const geom::Location &end,
+        float thickness = 0.1f,
+        float arrow_size = 0.1f,
+        Color color = Color{255u, 0u, 0u},
+        float life_time = -1.0f,
+        bool persistent_lines = true);
+
     void DrawBox(
         const geom::BoundingBox &box,
         const geom::Rotation &rotation,
@@ -55,6 +79,14 @@ namespace client {
         float life_time = -1.0f,
         bool persistent_lines = true);
 
+    void DrawHUDBox(
+        const geom::BoundingBox &box,
+        const geom::Rotation &rotation,
+        float thickness = 0.1f,
+        Color color = Color{255u, 0u, 0u},
+        float life_time = -1.0f,
+        bool persistent_lines = true);
+
     void DrawString(
         const geom::Location &location,
         const std::string &text,

LibCarla/source/carla/client/FileTransfer.h

@@ -12,6 +12,7 @@
 #include <iostream>
 #include <string>
 #include <sys/stat.h>
+#include <cstdint>
 
 namespace carla {
 namespace client {

LibCarla/source/carla/client/Vehicle.cpp

@@ -144,6 +144,10 @@ namespace client {
         BaseJSONPath);
   }
 
+  void Vehicle::RestorePhysXPhysics() {
+    GetEpisode().Lock()->RestorePhysXPhysics(*this);
+  }
+
   rpc::VehicleFailureState Vehicle::GetFailureState() const {
     return GetEpisode().Lock()->GetActorSnapshot(*this).state.vehicle_data.failure_state;
   }

LibCarla/source/carla/client/Vehicle.h

@@ -137,6 +137,8 @@ namespace client {
         std::string TireJSON = "",
         std::string BaseJSONPath = "");
 
+    void RestorePhysXPhysics();
+
     /// Returns the failure state of the vehicle
     rpc::VehicleFailureState GetFailureState() const;
 

LibCarla/source/carla/client/detail/Client.cpp

@@ -456,6 +456,11 @@ namespace detail {
     return _pimpl->CallAndWait<return_t>("get_actor_socket_relative_transforms", actor);
   }
 
+  std::vector<std::string> Client::GetActorSocketNames(rpc::ActorId actor) {
+    using return_t = std::vector<std::string>;
+    return _pimpl->CallAndWait<return_t>("get_actor_socket_names", actor);
+  }
+
   void Client::SetActorSimulatePhysics(rpc::ActorId actor, const bool enabled) {
     _pimpl->CallAndWait<void>("set_actor_simulate_physics", actor, enabled);
   }
@@ -523,6 +528,10 @@ namespace detail {
         BaseJSONPath);
   }
 
+  void Client::RestorePhysXPhysics(rpc::ActorId vehicle) {
+    _pimpl->AsyncCall("restore_physx_physics", vehicle);
+  }
+
   void Client::ApplyControlToWalker(rpc::ActorId walker, const rpc::WalkerControl &control) {
     _pimpl->AsyncCall("apply_control_to_walker", walker, control);
   }

LibCarla/source/carla/client/detail/Client.h

@@ -263,6 +263,9 @@ namespace detail {
     std::vector<geom::Transform> GetActorSocketRelativeTransforms(
         rpc::ActorId actor);
 
+    std::vector<std::string> GetActorSocketNames(
+        rpc::ActorId actor);
+
     void SetActorSimulatePhysics(
         rpc::ActorId actor,
         bool enabled);
@@ -328,6 +331,8 @@ namespace detail {
         std::string TireJSON,
         std::string BaseJSONPath);
 
+    void RestorePhysXPhysics(rpc::ActorId vehicle);
+
     void ApplyControlToWalker(
         rpc::ActorId walker,
         const rpc::WalkerControl &control);

LibCarla/source/carla/client/detail/Simulator.h

@@ -479,6 +479,10 @@ namespace detail {
       return _client.GetActorSocketRelativeTransforms(actor.GetId());
     }
 
+    std::vector<std::string> GetActorSocketNames(const Actor &actor) {
+      return _client.GetActorSocketNames(actor.GetId());
+    }    
+
     void SetActorLocation(Actor &actor, const geom::Location &location) {
       _client.SetActorLocation(actor.GetId(), location);
     }
@@ -613,6 +617,10 @@ namespace detail {
           BaseJSONPath);
     }
 
+    void RestorePhysXPhysics(Vehicle &vehicle) {
+      _client.RestorePhysXPhysics(vehicle.GetId());
+    }
+
     /// @}
     // =========================================================================
     /// @name Operations with the recorder

LibCarla/source/carla/rpc/DebugShape.h

@@ -35,34 +35,60 @@ namespace rpc {
       MSGPACK_DEFINE_ARRAY(location, size);
     };
 
+    struct HUDPoint {
+      geom::Location location;
+      float size;
+      MSGPACK_DEFINE_ARRAY(location, size);
+    };
+
     struct Line {
       geom::Location begin;
       geom::Location end;
       float thickness;
       MSGPACK_DEFINE_ARRAY(begin, end, thickness);
     };
 
+    struct HUDLine {
+      geom::Location begin;
+      geom::Location end;
+      float thickness;
+      MSGPACK_DEFINE_ARRAY(begin, end, thickness);
+    };
+
     struct Arrow {
       Line line;
       float arrow_size;
       MSGPACK_DEFINE_ARRAY(line, arrow_size);
     };
 
+    struct HUDArrow {
+      HUDLine line;
+      float arrow_size;
+      MSGPACK_DEFINE_ARRAY(line, arrow_size);
+    };
+
     struct Box {
       geom::BoundingBox box;
       geom::Rotation rotation;
       float thickness;
       MSGPACK_DEFINE_ARRAY(box, rotation, thickness);
     };
 
+    struct HUDBox {
+      geom::BoundingBox box;
+      geom::Rotation rotation;
+      float thickness;
+      MSGPACK_DEFINE_ARRAY(box, rotation, thickness);
+    };
+
     struct String {
       geom::Location location;
       std::string text;
       bool draw_shadow;
       MSGPACK_DEFINE_ARRAY(location, text, draw_shadow);
     };
 
-    boost::variant2::variant<Point, Line, Arrow, Box, String> primitive;
+    boost::variant2::variant<Point, Line, Arrow, Box, String, HUDPoint, HUDLine, HUDArrow, HUDBox> primitive;
 
     Color color = {255u, 0u, 0u};
 

PythonAPI/carla/setup.py

@@ -33,9 +33,10 @@ def walk(folder, file_filter='*'):
 
     if os.name == "posix":
         import distro
-
-        linux_distro = distro.linux_distribution()[0]
-        if linux_distro.lower() in ["ubuntu", "debian", "deepin"]:
+        supported_dists = ["ubuntu", "debian", "deepin"]
+
+        linux_distro = distro.id().lower()
+        if linux_distro in supported_dists:
             pwd = os.path.dirname(os.path.realpath(__file__))
             pylib = "libboost_python%d%d.a" % (sys.version_info.major,
                                                sys.version_info.minor)
@@ -101,7 +102,7 @@ def walk(folder, file_filter='*'):
             # extra_link_args += ['/usr/lib/gcc/x86_64-linux-gnu/7/libstdc++.a']
             extra_link_args += ['-lstdc++']
         else:
-            raise NotImplementedError
+            raise NotImplementedError(linux_distro + " not in supported posix platforms: " + str(supported_dists))
     elif os.name == "nt":
         pwd = os.path.dirname(os.path.realpath(__file__))
         pylib = 'libboost_python%d%d' % (

PythonAPI/carla/source/libcarla/Actor.cpp

@@ -120,7 +120,8 @@ void export_actor() {
       .def("get_component_names", CALL_RETURNING_LIST(cc::Actor,GetComponentNames))
       .def("get_bone_names", CALL_RETURNING_LIST(cc::Actor,GetBoneNames))
       .def("get_socket_world_transforms", CALL_RETURNING_LIST(cc::Actor,GetSocketWorldTransforms))
-      .def("get_socket_relative_transforms", CALL_RETURNING_LIST(cc::Actor,GetSocketRelativeTransforms))      
+      .def("get_socket_relative_transforms", CALL_RETURNING_LIST(cc::Actor,GetSocketRelativeTransforms))   
+      .def("get_socket_names", CALL_RETURNING_LIST(cc::Actor,GetSocketNames))         
       .def("set_location", &cc::Actor::SetLocation, (arg("location")))
       .def("set_transform", &cc::Actor::SetTransform, (arg("transform")))
       .def("set_target_velocity", &cc::Actor::SetTargetVelocity, (arg("velocity")))
@@ -202,6 +203,7 @@ void export_actor() {
       .def("enable_carsim", &cc::Vehicle::EnableCarSim, (arg("simfile_path") = ""))
       .def("use_carsim_road", &cc::Vehicle::UseCarSimRoad, (arg("enabled")))
       .def("enable_chrono_physics", &cc::Vehicle::EnableChronoPhysics, (arg("max_substeps")=30, arg("max_substep_delta_time")=0.002, arg("vehicle_json")="", arg("powetrain_json")="", arg("tire_json")="", arg("base_json_path")=""))
+      .def("restore_physx_physics", &cc::Vehicle::RestorePhysXPhysics)
       .def("get_failure_state", &cc::Vehicle::GetFailureState)
       .def(self_ns::str(self_ns::self))
   ;