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chore(launch): add default map [Town05] #739

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chore(launch): add default map [Town05] #739

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chore(launch): add default map [Town05]
1127705669 Jun 12, 2024
0cb071f
feat(carla_ros_bridge): adapter to carla 0.9.15
1127705669 Jul 16, 2024
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2 changes: 1 addition & 1 deletion carla_ros_bridge/launch/carla_ros_bridge_with_example_ego_vehicle.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
<arg name="spawn_point" default=""/><!-- use comma separated format "x,y,z,roll,pitch,yaw" -->

<!-- Map to load on startup (either a predefined CARLA town (e.g. 'Town01'), or a OpenDRIVE map file) -->
<arg name="town" default=''/>
<arg name="town" default='Town05'/>

<!-- Enable/disable passive mode -->
<arg name='passive' default=''/>
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7 changes: 3 additions & 4 deletions carla_ros_bridge/src/carla_ros_bridge/bridge.py
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Expand Up @@ -18,7 +18,7 @@
except ImportError:
import Queue as queue
import sys
from distutils.version import LooseVersion
from packaging.version import Version
from threading import Thread, Lock, Event

import carla
Expand Down Expand Up @@ -413,13 +413,12 @@ def main(args=None):

# check carla version
dist = pkg_resources.get_distribution("carla")
if LooseVersion(dist.version) != LooseVersion(CarlaRosBridge.CARLA_VERSION):
if Version(dist.version).release[0] != Version(CarlaRosBridge.CARLA_VERSION).release[0]:
carla_bridge.logfatal("CARLA python module version {} required. Found: {}".format(
CarlaRosBridge.CARLA_VERSION, dist.version))
sys.exit(1)

if LooseVersion(carla_client.get_server_version()) != \
LooseVersion(carla_client.get_client_version()):
if Version(carla_client.get_server_version()) != Version(carla_client.get_client_version()):
carla_bridge.logwarn(
"Version mismatch detected: You are trying to connect to a simulator that might be incompatible with this API. Client API version: {}. Simulator API version: {}"
.format(carla_client.get_client_version(),
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11 changes: 6 additions & 5 deletions carla_ros_bridge/src/carla_ros_bridge/sensor.py
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Expand Up @@ -202,14 +202,15 @@ def sensor_data_updated(self, carla_sensor_data):
"This function has to be implemented by the derived classes")

def _update_synchronous_event_sensor(self, frame, timestamp):
buffer_size = 5
while True:
try:
carla_sensor_data = self.queue.get(block=False)
if carla_sensor_data.frame != frame:
self.node.logwarn("{}({}): Received event for frame {}"
" (expected {}). Process it anyways.".format(
self.__class__.__name__, self.get_id(),
carla_sensor_data.frame, frame))
frame_difference = abs(carla_sensor_data.frame - frame)
if frame_difference > buffer_size:
self.node.logwarn("{}({}): Received event for frame {} (expected {}). Process it anyways.".format(
self.__class__.__name__, self.get_id(),
carla_sensor_data.frame, frame))
self.node.logdebug("{}({}): process {}".format(
self.__class__.__name__, self.get_id(), frame))
self.publish_tf(trans.carla_transform_to_ros_pose(
Expand Down