Merge pull request #91 from carla-simulator/feature/further_cleanup

Feature/further cleanup

CHANGELOG.md

@@ -1,5 +1,6 @@
 ## Latest changed
 
+* rename gnss topic from '../gnss' to '../fix'
 * Add lane invasion sensor
 * Add collision sensor
 * Rename CarlaVehicleControl to CarlaEgoVehicleControl (and add some more message types)

README.md

@@ -38,7 +38,7 @@ This documentation is for CARLA versions *newer* than 0.9.4.
 
     #install required ros-dependencies
     rosdep update
-    rosdep install --from-path .
+    rosdep install --from-paths src --ignore-src -r
 
     #build
     catkin_make
@@ -124,21 +124,21 @@ Currently the following sensors are supported:
 
 |Topic                          | Type |
 |-------------------------------|------|
-| `/carla/<ROLE NAME>/collision` | [carla_ros_bridge.CarlaCollisionEvent](carla_ros_bridge/msg/CarlaCollisionEvent.msg) |
+| `/carla/<ROLE NAME>/collision` | [carla_ros_bridge_msgs.CarlaCollisionEvent](carla_ros_bridge_msgs/msg/CarlaCollisionEvent.msg) |
 
 #### Lane Invasion Sensor
 
 |Topic                          | Type |
 |-------------------------------|------|
-| `/carla/<ROLE NAME>/lane_invasion` | [carla_ros_bridge.CarlaLaneInvasionEvent](carla_ros_bridge/msg/CarlaLaneInvasionEvent.msg) |
+| `/carla/<ROLE NAME>/lane_invasion` | [carla_ros_bridge_msgs.CarlaLaneInvasionEvent](carla_ros_bridge_msgs/msg/CarlaLaneInvasionEvent.msg) |
 
 ### Control
 
 |Topic                                 | Type |
 |--------------------------------------|------|
-| `/carla/<ROLE NAME>/vehicle_control_cmd` (subscriber) | [carla_ros_bridge.CarlaEgoVehicleControl](carla_ros_bridge/msg/CarlaEgoVehicleControl.msg) |
-| `/carla/<ROLE NAME>/vehicle_status` | [carla_ros_bridge.CarlaEgoVehicleStatus](carla_ros_bridge/msg/CarlaEgoVehicleStatus.msg) |
-| `/carla/<ROLE NAME>/vehicle_info` | [carla_ros_bridge.CarlaEgoVehicleInfo](carla_ros_bridge/msg/CarlaEgoVehicleInfo.msg) |
+| `/carla/<ROLE NAME>/vehicle_control_cmd` (subscriber) | [carla_ros_bridge_msgs.CarlaEgoVehicleControl](carla_ros_bridge_msgs/msg/CarlaEgoVehicleControl.msg) |
+| `/carla/<ROLE NAME>/vehicle_status` | [carla_ros_bridge_msgs.CarlaEgoVehicleStatus](carla_ros_bridge_msgs/msg/CarlaEgoVehicleStatus.msg) |
+| `/carla/<ROLE NAME>/vehicle_info` | [carla_ros_bridge_msgs.CarlaEgoVehicleInfo](carla_ros_bridge_msgs/msg/CarlaEgoVehicleInfo.msg) |
 
 You can stear the ego vehicle from the commandline by publishing to the topic `/carla/<ROLE NAME>/vehicle_control_cmd`.
 

carla_ackermann_control/CMakeLists.txt

@@ -6,10 +6,9 @@ find_package(catkin REQUIRED COMPONENTS
   message_generation
   rospy
   std_msgs
-  geometry_msgs
   ackermann_msgs
   dynamic_reconfigure
-  carla_ros_bridge
+  carla_ros_bridge_msgs
 )
 
 catkin_python_setup()
@@ -26,8 +25,7 @@ add_message_files(
 generate_messages(
   DEPENDENCIES
   std_msgs
-  geometry_msgs
-  carla_ros_bridge
+  carla_ros_bridge_msgs
 )
 
 generate_dynamic_reconfigure_options(

carla_ackermann_control/msg/EgoVehicleControlInfo.msg

@@ -21,4 +21,4 @@ EgoVehicleControlCurrent current
 EgoVehicleControlStatus status
 
 # the current control output to CARLA
-carla_ros_bridge/CarlaEgoVehicleControl output
+carla_ros_bridge_msgs/CarlaEgoVehicleControl output

carla_ackermann_control/package.xml

@@ -7,13 +7,14 @@
   <license>MIT</license>
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>rospy</build_depend>
+  <build_depend>carla_ros_bridge_msgs</build_depend>
   <build_export_depend>rospy</build_export_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>ackermann_msgs</exec_depend>
   <exec_depend>carla_ros_bridge</exec_depend>
   <exec_depend>std_msgs</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>dynamic_reconfigure</exec_depend>
+  <exec_depend>carla_ros_bridge_msgs</exec_depend>
   <export>
   </export>
 </package>

carla_ackermann_control/src/carla_ackermann_control/carla_ackermann_control_node.py

@@ -18,9 +18,9 @@
 
 from dynamic_reconfigure.server import Server
 from ackermann_msgs.msg import AckermannDrive
-from carla_ros_bridge.msg import CarlaEgoVehicleStatus  # pylint: disable=no-name-in-module,import-error
-from carla_ros_bridge.msg import CarlaEgoVehicleControl  # pylint: disable=no-name-in-module,import-error
-from carla_ros_bridge.msg import CarlaEgoVehicleInfo  # pylint: disable=no-name-in-module,import-error
+from carla_ros_bridge_msgs.msg import CarlaEgoVehicleStatus  # pylint: disable=no-name-in-module,import-error
+from carla_ros_bridge_msgs.msg import CarlaEgoVehicleControl  # pylint: disable=no-name-in-module,import-error
+from carla_ros_bridge_msgs.msg import CarlaEgoVehicleInfo  # pylint: disable=no-name-in-module,import-error
 from carla_ackermann_control.msg import EgoVehicleControlInfo  # pylint: disable=no-name-in-module,import-error
 from carla_ackermann_control.cfg import EgoVehicleControlParameterConfig  # pylint: disable=no-name-in-module,import-error
 import carla_control_physics as phys  # pylint: disable=relative-import

carla_ego_vehicle/CMakeLists.txt

@@ -15,7 +15,6 @@ catkin_package(
 catkin_install_python(PROGRAMS
   src/carla_ego_vehicle/carla_example_ego_vehicle.py
   src/carla_ego_vehicle/carla_ego_vehicle_base.py
-  src/carla_ego_vehicle/carla_ros_manual_control.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 

carla_ego_vehicle/README.md

@@ -1,13 +1,5 @@
 # ROS Ego Vehicle
 
-This package provides two ROS nodes:
-
-- Carla Example Ego Vehicle: A reference client for spawning an ego vehicle
-- Carla ROS Manual Control: a ROS-only manual control
-
-
-## Carla Example Ego Vehicle
-
 The reference Carla client `carla_example_ego_vehicle` can be used to spawn an ego vehicle (role-name: "ego_vehicle") with the following sensors attached to it.
 
 - GNSS
@@ -16,7 +8,7 @@ The reference Carla client `carla_example_ego_vehicle` can be used to spawn an e
 - Collision Sensor
 - Lane Invasion Sensor
 
-Info: To be able to use carla_ros_manual_control a camera with role-name 'view' is required.
+Info: To be able to use `carla_manual_control` a camera with role-name 'view' and resolution of 800x600 is required.
 
 If no specific position is set, the ego vehicle is spawned at a random position.
 
@@ -47,21 +39,3 @@ The format is a list of dictionaries. One dictionary has the values as follows:
         <ADDITIONAL-SENSOR-ATTRIBUTES>
     }
 
-## Carla ROS Manual Control
-
-The node `carla_ros_manual_control` is a ROS-only version of the Carla `manual_control.py`. All data is received
-via ROS topics.
-
-Note: To be able to use carla_ros_manual_control a camera with role-name 'view' needs to be spawned by `carla_ego_vehicle`.
-
-
-### Manual steering
-
-In order to steer manually, you might need to disable sending vehicle control commands within another ROS node.
-
-Therefore the manual control is able to publish to `/vehicle_control_manual_override` ([std_msgs/Bool](http://docs.ros.org/api/std_msgs/html/msg/Bool.html)).
-
-Press `B` to toggle the value.
-
-Note: As sending the vehicle control commands is highly dependent on your setup, you need to implement the subscriber to that topic yourself.
-

carla_ego_vehicle/src/carla_ego_vehicle/carla_ego_vehicle_base.py

@@ -151,12 +151,12 @@ def setup_sensors(self, sensors):
                                                      roll=sensor_spec['roll'],
                                                      yaw=sensor_spec['yaw'])
                 elif sensor_spec['type'].startswith('sensor.lidar'):
-                    bp.set_attribute('range', '200')
-                    bp.set_attribute('rotation_frequency', '10')
-                    bp.set_attribute('channels', '32')
-                    bp.set_attribute('upper_fov', '15')
-                    bp.set_attribute('lower_fov', '-30')
-                    bp.set_attribute('points_per_second', '500000')
+                    bp.set_attribute('range', str(sensor_spec['range']))
+                    bp.set_attribute('rotation_frequency', str(sensor_spec['rotation_frequency']))
+                    bp.set_attribute('channels', str(sensor_spec['channels']))
+                    bp.set_attribute('upper_fov', str(sensor_spec['upper_fov']))
+                    bp.set_attribute('lower_fov', str(sensor_spec['lower_fov']))
+                    bp.set_attribute('points_per_second', str(sensor_spec['points_per_second']))
                     sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'],
                                                      z=sensor_spec['z'])
                     sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'],

carla_ego_vehicle/src/carla_ego_vehicle/carla_example_ego_vehicle.py

@@ -40,7 +40,7 @@ def sensors(self):
             },
             {
                 'type': 'sensor.lidar.ray_cast',
-                'role_name': 'front',
+                'role_name': 'lidar1',
                 'x': 0.0, 'y': 0.0, 'z': 2.4, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
                 'range': 5000,
                 'channels': 32,
@@ -51,17 +51,17 @@ def sensors(self):
             },
             {
                 'type': 'sensor.other.gnss',
-                'role_name': 'sensor',
+                'role_name': 'gnss1',
                 'x': 1.0, 'y': 0.0, 'z': 2.0
             },
             {
                 'type': 'sensor.other.collision',
-                'role_name': 'sensor',
+                'role_name': 'collision1',
                 'x': 0.0, 'y': 0.0, 'z': 0.0
             },
             {
                 'type': 'sensor.other.lane_invasion',
-                'role_name': 'sensor',
+                'role_name': 'laneinvasion1',
                 'x': 0.0, 'y': 0.0, 'z': 0.0
             }
         ]

carla_manual_control/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(carla_manual_control)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+)
+
+catkin_python_setup()
+
+catkin_package(
+  CATKIN_DEPENDS
+  rospy
+)
+
+catkin_install_python(PROGRAMS
+  src/carla_manual_control/carla_manual_control.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)

carla_manual_control/README.md

@@ -0,0 +1,23 @@
+# Carla Manual Control
+
+The node `carla_manual_control` is a ROS-only version of the Carla `manual_control.py`. All data is received
+via ROS topics.
+
+## Prerequistes
+To be able to use `carla_manual_control`, some sensors need to be attached to the ego vehicle:
+- to display an image: a camera with role-name 'view' and resolution 800x600
+- to display the current gnss position: a gnss sensor with role-name 'gnss1'
+- to get a notification on lane invasions: a lane invasion sensor
+- to get a notification on lane invasions: a collision sensor
+
+
+## Manual steering
+
+In order to steer manually, you might need to disable sending vehicle control commands within another ROS node.
+
+Therefore the manual control is able to publish to `/vehicle_control_manual_override` ([std_msgs/Bool](http://docs.ros.org/api/std_msgs/html/msg/Bool.html)).
+
+Press `B` to toggle the value.
+
+Note: As sending the vehicle control commands is highly dependent on your setup, you need to implement the subscriber to that topic yourself.
+

carla_manual_control/launch/carla_manual_control.launch

@@ -0,0 +1,7 @@
+<!-- -->
+<launch>
+
+  <node pkg="carla_manual_control" type="carla_manual_control.py" name="carla_manual_control" output="screen"/>
+
+</launch>
+

carla_manual_control/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>carla_manual_control</name>
+  <version>0.0.0</version>
+  <description>The carla_manual_control package</description>
+  <maintainer email="[email protected]">CARLA Simulator Team</maintainer>
+  <license>MIT</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>carla_ros_bridge_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <export>
+  </export>
+</package>

carla_manual_control/setup.py

@@ -0,0 +1,10 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['carla_manual_control'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)
+

carla_ego_vehicle/src/carla_ego_vehicle/carla_ros_manual_control.py → carla_manual_control/src/carla_manual_control/carla_manual_control.py

@@ -37,11 +37,11 @@
 from std_msgs.msg import Bool
 from sensor_msgs.msg import NavSatFix
 from sensor_msgs.msg import Image
-from carla_ros_bridge.msg import CarlaCollisionEvent  # pylint: disable=no-name-in-module, import-error
-from carla_ros_bridge.msg import CarlaLaneInvasionEvent  # pylint: disable=no-name-in-module, import-error
-from carla_ros_bridge.msg import CarlaEgoVehicleControl  # pylint: disable=no-name-in-module, import-error
-from carla_ros_bridge.msg import CarlaEgoVehicleStatus  # pylint: disable=no-name-in-module, import-error
-from carla_ros_bridge.msg import CarlaEgoVehicleInfo  # pylint: disable=no-name-in-module, import-error
+from carla_ros_bridge_msgs.msg import CarlaCollisionEvent  # pylint: disable=no-name-in-module, import-error
+from carla_ros_bridge_msgs.msg import CarlaLaneInvasionEvent  # pylint: disable=no-name-in-module, import-error
+from carla_ros_bridge_msgs.msg import CarlaEgoVehicleControl  # pylint: disable=no-name-in-module, import-error
+from carla_ros_bridge_msgs.msg import CarlaEgoVehicleStatus  # pylint: disable=no-name-in-module, import-error
+from carla_ros_bridge_msgs.msg import CarlaEgoVehicleInfo  # pylint: disable=no-name-in-module, import-error
 
 try:
     import pygame
@@ -277,9 +277,12 @@ def __init__(self, width, height):
             "/carla/ego_vehicle/vehicle_info", CarlaEgoVehicleInfo, self.vehicle_info_updated)
         self.latitude = 0
         self.longitude = 0
+        self.manual_control = False
         self.gnss_subscriber = rospy.Subscriber(
-            "/carla/ego_vehicle/gnss/front/gnss", NavSatFix, self.gnss_updated)
+            "/carla/ego_vehicle/gnss/gnss1/fix", NavSatFix, self.gnss_updated)
         self.tf_listener = tf.TransformListener()
+        self.manual_control_subscriber = rospy.Subscriber(
+            "/vehicle_control_manual_override", Bool, self.manual_control_override_updated)
 
     def __del__(self):
         self.gnss_subscriber.unregister()
@@ -292,6 +295,13 @@ def tick(self, clock):
         """
         self._notifications.tick(clock)
 
+    def manual_control_override_updated(self, data):
+        """
+        Callback on vehicle status updates
+        """
+        self.manual_control = data.data
+        self.update_info_text()
+
     def vehicle_status_updated(self, vehicle_status):
         """
         Callback on vehicle status updates
@@ -356,7 +366,9 @@ def update_info_text(self):
             ('Hand brake:', self.vehicle_status.control.hand_brake),
             ('Manual:', self.vehicle_status.control.manual_gear_shift),
             'Gear:        %s' % {-1: 'R', 0: 'N'}.get(self.vehicle_status.control.gear,
-                                                      self.vehicle_status.control.gear)]
+                                                      self.vehicle_status.control.gear),
+            '']
+        self._info_text += [('Manual ctrl:', self.manual_control)]
 
     def toggle_info(self):
         """
@@ -506,7 +518,7 @@ def main():
     """
     main function
     """
-    rospy.init_node('carla_ros_manual_control')
+    rospy.init_node('carla_manual_control')
 
     # resolution should be similar to spawned camera with role-name 'view'
     resolution = {"width": 800, "height": 600}

carla_ros_bridge/CMakeLists.txt

@@ -3,7 +3,6 @@ project(carla_ros_bridge)
 
 ## Find catkin macros and libraries
 find_package(catkin REQUIRED COMPONENTS
-  message_generation
   rospy
   sensor_msgs
   geometry_msgs
@@ -13,23 +12,6 @@ find_package(catkin REQUIRED COMPONENTS
 
 catkin_python_setup()
 
-add_message_files(
-  FILES
-  CarlaEgoVehicleControl.msg
-  CarlaEgoVehicleStatus.msg
-  CarlaEgoVehicleInfoWheel.msg
-  CarlaEgoVehicleInfo.msg
-  CarlaCollisionEvent.msg
-  CarlaLaneInvasionEvent.msg
-)
-
-generate_messages(
-  DEPENDENCIES
-  std_msgs
-  geometry_msgs
-)
-
-
 catkin_package()
 
 

carla_ros_bridge/launch/carla_ros_bridge_with_example_ego_vehicle.launch

@@ -2,5 +2,5 @@
 <launch>
 <include file="$(find carla_ros_bridge)/launch/carla_ros_bridge.launch"  pass_all_args="True"/>
 <include file="$(find carla_ego_vehicle)/launch/carla_example_ego_vehicle.launch"  pass_all_args="True"/>
-<include file="$(find carla_ego_vehicle)/launch/carla_ros_manual_control.launch"  pass_all_args="True"/>
+<include file="$(find carla_manual_control)/launch/carla_manual_control.launch"  pass_all_args="True"/>
 </launch>