Add multiple nodes

- carla_ros_scenario_runner is a ros node, that is able to control the CARLA scenario runner. - scenarios can be executed via ros-service - carla_ad_agent is a ros node, that provides basic ad functionality - derived from carla planning - respects traffic lights - avoids crashs with other vehicles - rviz_carla_plugin is a rviz plugin with the following features: - provide a pose of the current view (used in carla_spectator_camera) - visualize the current vehicle control - allows manually overriding the vehicle control - execute a scenario - pause the simulation (if started in synchronous mode) - carla_ad_demo provides a demo setup (also including all of the above nodes) - modify carla_waypoint_publisher service to be able to provide waypoint for an actor id
zczjx · Mar 3, 2020 · d968bc9 · d968bc9
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -7,6 +7,10 @@
 *   Add node to convert a twist to a vehicle control command
 *   Add node carla_spectator_camera
 *   Update carla_waypoint_publisher
+*   Add carla_ros_scenario_runner
+*   Add rviz_carla_plugin
+*   Add carla_ad_agent
+*   Add carla_ad_demo
 
 ## CARLA-ROS-Bridge 0.9.6
 

diff --git a/README.md b/README.md
@@ -48,24 +48,18 @@ For more information about configuring a ROS environment see
 
 First run the simulator (see carla documentation: <http://carla.readthedocs.io/en/latest/>)
 
-    ./CarlaUE4.sh -windowed -ResX=320 -ResY=240
+    # run carla in background
+    SDL_VIDEODRIVER=offscreen ./CarlaUE4.sh -opengl
 
-Wait for the message:
+Wait a few seconds, then start the ros bridge (choose one option):
 
-    Waiting for the client to connect...
-
-Then start the ros bridge (choose one option):
-
-    export PYTHONPATH=$PYTHONPATH:<path/to/carla/>/PythonAPI/<your_egg_file>
+    export PYTHONPATH=$PYTHONPATH:<path-to-carla>/PythonAPI/carla/dist/carla-<carla_version_and_arch>.egg
     source ~/carla-ros-bridge/catkin_ws/devel/setup.bash
 
     # Option 1: start the ros bridge
     roslaunch carla_ros_bridge carla_ros_bridge.launch
 
-    # Option 2: start the ros bridge together with RVIZ
-    roslaunch carla_ros_bridge carla_ros_bridge_with_rviz.launch
-
-    # Option 3: start the ros bridge together with an example ego vehicle
+    # Option 2: start the ros bridge together with an example ego vehicle
     roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch
 
 ## Settings
@@ -267,25 +261,27 @@ The following markers are supported in 'map'-frame:
 | ---------------------------------- | ------------------------------------------------------------------------------------------------------ | --------------------------- |
 | `/carla/debug_marker` (subscriber) | [visualization_msgs.MarkerArray](http://docs.ros.org/api/visualization_msgs/html/msg/MarkerArray.html) | draw markers in CARLA world |
 
-## Carla Ego Vehicle
-
-`carla_ego_vehicle` provides a generic way to spawn an ego vehicle and attach sensors to it. You can find further documentation [here](carla_ego_vehicle/README.md).
-
-## Carla Infrastructure Sensors
-
-`carla_infrastructure` provides a generic way to spawn a set of infrastructure sensors defined in a config file. You can find further documentation [here](carla_infrastructure/README.md).
 
-## Waypoint calculation
+## Additional Functionality
 
-To make use of the Carla waypoint calculation a ROS Node is available to get waypoints. You can find further documentation [here](carla_waypoint_publisher/README.md).
+| Name                              | Description                                                                                             |
+| --------------------------------- | ------------------------------------------------------------------------------------------------------- |
+| [Carla Ego Vehicle](carla_ego_vehicle/README.md) | Provides a generic way to spawn an ego vehicle and attach sensors to it. |
+| [Carla Infrastructure](carla_infrastructure/README.md) | Provides a generic way to spawn a set of infrastructure sensors defined in a config file. |
+| [Carla Waypoint Publisher](carla_waypoint_publisher/README.md) | Provide routes and access to the Carla waypoint API |
+| [Carla ROS Scenario Runner](carla_ros_scenario_runner/README.md) | ROS node that wraps the functionality of the CARLA [scenario runner](https://github.com/carla-simulator/scenario_runner) to execute scenarios. |
+| [Carla AD Agent](carla_ad_agent/README.md) | A basic AD agent, that can follow a route and avoid collisions with other vehicles and stop on red traffic lights. |
+| [Carla AD Demo](carla_ad_demo/README.md) | A meta package that provides everything to launch a CARLA ROS environment with an AD vehicle. |
+| [RVIZ Carla Plugin](rviz_carla_plugin/README.md) | A [RVIZ](http://wiki.ros.org/rviz) plugin to visualize/control CARLA. |
+| [RQT Carla Plugin](rqt_carla_plugin/README.md) | A [RQT](http://wiki.ros.org/rqt) plugin to control CARLA. |
 
 ## Troubleshooting
 
 ### ImportError: No module named carla
 
 You're missing Carla Python. Please execute:
 
-    export PYTHONPATH=$PYTHONPATH:<path/to/carla/>/PythonAPI/<your_egg_file>
+    export PYTHONPATH=$PYTHONPATH:<path/to/carla/>/PythonAPI/carla/dist/<your_egg_file>
 
 Please note that you have to put in the complete path to the egg-file including
 the egg-file itself. Please use the one, that is supported by your Python version.

diff --git a/carla_ad_agent/CMakeLists.txt b/carla_ad_agent/CMakeLists.txt
@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(carla_ad_agent)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  roslaunch
+)
+
+catkin_python_setup()
+
+roslaunch_add_file_check(launch)
+
+catkin_package(
+        CATKIN_DEPENDS
+        rospy
+)
+
+catkin_install_python(PROGRAMS
+  src/carla_ad_agent/carla_ad_agent.py
+  src/carla_ad_agent/basic_agent.py
+  src/carla_ad_agent/agent.py
+  src/carla_ad_agent/local_planner.py
+  src/carla_ad_agent/vehicle_pid_controller.py
+  src/carla_ad_agent/misc.py
+  src/carla_ad_agent/__init__.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+
diff --git a/carla_ad_agent/README.md b/carla_ad_agent/README.md
@@ -0,0 +1,13 @@
+# CARLA AD Agent
+
+An AD agent that can follow a given route.
+
+It avoids crashs with other vehicles and respects the state of the traffic lights.
+
+For a more comprehensive solution, have a look at [Autoware](https://www.autoware.ai/).
+
+## Publications
+
+| Topic                              | Type                | Description                 |
+| ---------------------------------- | ------------------- | --------------------------- |
+| `/carla/<ROLE NAME>/vehicle_control_cmd` | [carla_msgs.CarlaEgoVehicleControl](../carla_msgs/msg/CarlaEgoVehicleControl.msg) | Vehicle control command |
diff --git a/carla_ad_agent/launch/carla_ad_agent.launch b/carla_ad_agent/launch/carla_ad_agent.launch
@@ -0,0 +1,13 @@
+<!-- -->
+<launch>
+  <arg name="role_name" default="ego_vehicle"/>
+  <arg name="target_speed" default="20"/>
+  <arg name="avoid_risk" default="True"/>
+
+  <node pkg="carla_ad_agent" type="carla_ad_agent.py" name="carla_ad_agent_$(arg role_name)" output="screen">
+    <param name="target_speed" value="$(arg target_speed)" />
+    <param name="role_name" value="$(arg role_name)" />
+    <param name="avoid_risk" value="$(arg avoid_risk)" />
+  </node>
+</launch>
+
diff --git a/carla_ad_agent/package.xml b/carla_ad_agent/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>carla_ad_agent</name>
+  <version>0.0.1</version>
+  <description>The carla_ad_agent package</description>
+  <maintainer email="[email protected]">CARLA Simulator Team</maintainer>
+  <license>MIT</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>roslaunch</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>topic_tools</exec_depend>
+  <exec_depend>carla_waypoint_types</exec_depend>
+  <exec_depend>carla_msgs</exec_depend>
+  <export>
+  </export>
+</package>
diff --git a/carla_ad_agent/setup.py b/carla_ad_agent/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_ad_agent'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)
+
diff --git a/carla_ad_agent/src/carla_ad_agent/__init__.py b/carla_ad_agent/src/carla_ad_agent/__init__.py