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added option to change pose of camera at runtime by publishing on topic #443

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added option to change pose of camera at runtime by publishing on topic #443

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jbmag
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@jbmag jbmag commented Dec 18, 2020 •
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Answer to issue #436

  • uses new attribute allow_transform from object.json
  • if allow_transform is set to true (only for camera sensors) the camera object subscribes to a new topic /carla/<parent>/<sensor_name>/update_pose
  • Tested using rviz by remapping the topic /carla/ego_vehicle/spectator_pose, and by using the carla_rviz_plugin to move the view around. It works for all type of cameras, including when they are not attached to any vehicle.
  • Not sure if that's the goal, but this should be able to replace the current spectator_camera node.

@fpasch is that what you had in mind?

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@jbmag jbmag requested a review from fpasch December 18, 2020 17:10
@jbmag jbmag linked an issue Dec 18, 2020 that may be closed by this pull request
Make attached sensor transform changeable during runtime #436
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@jbmag jbmag changed the title Closes #436 : added option to change pose of camera at runtime by publishing on topic added option to change pose of camera at runtime by publishing on topic Dec 18, 2020
@jbmag jbmag closed this Dec 23, 2020
@jbmag jbmag deleted the jbmag/allow_camera_transform branch January 4, 2021 08:18
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Make attached sensor transform changeable during runtime
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