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

Feature/further cleanup

Author: Fabian Oboril

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/launch/carla_ros_manual_control.launch

@@ -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'],