Merge pull request carla-simulator#2 from carla-simulator/master

Update

.gitignore

@@ -1,4 +1,4 @@
 *.pyc
 build.gradle
-CMakeLists.txt
+/CMakeLists.txt
 .catkin_workspace

.pylintrc

@@ -1,3 +1,3 @@
 [TYPECHECK]
-ignored-modules=numpy,carla
+ignored-modules=numpy,carla,pygame
 disable=logging-format-interpolation,locally-disabled,cyclic-import,too-many-instance-attributes,invalid-name

CHANGELOG.md

@@ -1,5 +1,6 @@
 ## Latest changed
 
+* Add lane invasion sensor
 * Add collision sensor
 * Rename CarlaVehicleControl to CarlaEgoVehicleControl (and add some more message types)
 * move PID controller into separate ROS node

README.md

@@ -27,37 +27,25 @@ This documentation is for CARLA versions *newer* than 0.9.4.
 
 ## Create a catkin workspace and install carla_ros_bridge package
 
-First, clone or download the carla_ros_bridge, for example into
-
-   ~/carla_ros_bridge
+    #setup folder structure
+    mkdir -p ~/carla-ros-bridge/catkin_ws/src
+    cd ~/carla-ros-bridge
+    git clone https://github.com/carla-simulator/ros-bridge.git
+    cd catkin_ws/src
+    ln -s ../../ros-bridge
+    source /opt/ros/kinetic/setup.bash
+    cd ..
 
-### Create the catkin workspace:
+    #install required ros-dependencies
+    rosdep update
+    rosdep install --from-path .
 
-    mkdir -p ~/ros/catkin_ws_for_carla/src
-    cd ~/ros/catkin_ws_for_carla/src
-    ln -s ~/carla_ros_bridge .
-    source /opt/ros/kinetic/setup.bash
+    #build
     catkin_make
-    source ~/ros/catkin_ws_for_carla/devel/setup.bash
 
 For more information about configuring a ROS environment see
 http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
 
-## Install the CARLA Python API
-
-    export PYTHONPATH=$PYTHONPATH:<path/to/carla/>/PythonAPI/<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.
-Depending on the type of CARLA (pre-build, or build from source), the egg files
-are typically located either directly in the PythonAPI folder or in PythonAPI/dist.
-
-Check the installation is successfull by trying to import carla from python:
-
-    python -c 'import carla;print("Success")'
-
-You should see the Success message without any errors.
-
 # Start the ROS bridge
 
 First run the simulator (see carla documentation: http://carla.readthedocs.io/en/latest/)
@@ -69,16 +57,20 @@ Wait for the message:
 
     Waiting for the client to connect...
 
-Then start the ros bridge:
+Then start the ros bridge (choose one option):
 
-    source ~/ros/catkin_ws_for_carla/devel/setup.bash
-    roslaunch carla_ros_bridge carla_ros_bridge.launch
+    export PYTHONPATH=$PYTHONPATH:<path/to/carla/>/PythonAPI/<your_egg_file>
+    source ~/carla-ros-bridge/catkin_ws/devel/setup.bash
 
-To start the ros bridge with rviz use:
+    # Option 1: start the ros bridge
+    roslaunch carla_ros_bridge carla_ros_bridge.launch
 
-    source ~/ros/catkin_ws_for_carla/devel/setup.bash
+    # 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
+    roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch
+
 You can setup the ros bridge configuration [carla_ros_bridge/config/settings.yaml](carla_ros_bridge/config/settings.yaml).
 
 As we have not spawned any vehicle and have not added any sensors in our carla world there would not be any stream of data yet.
@@ -134,6 +126,12 @@ Currently the following sensors are supported:
 |-------------------------------|------|
 | `/carla/<ROLE NAME>/collision` | [carla_ros_bridge.CarlaCollisionEvent](carla_ros_bridge/msg/CarlaCollisionEvent.msg) |
 
+#### Lane Invasion Sensor
+
+|Topic                          | Type |
+|-------------------------------|------|
+| `/carla/<ROLE NAME>/lane_invasion` | [carla_ros_bridge.CarlaLaneInvasionEvent](carla_ros_bridge/msg/CarlaLaneInvasionEvent.msg) |
+
 ### Control
 
 |Topic                                 | Type |
@@ -185,6 +183,16 @@ Object information of all vehicles, except the ego-vehicle(s) is published.
 The OPEN Drive map description is published.
 
 
+# Example Ego Vehicle
+
+An example Carla Client to spawn and control an ego vehicle is available. You can find further documentation [here](carla_ego_vehicle/README.md).
+
+
+# Waypoint calculation
+
+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).
+
+
 # ROSBAG recording (not yet tested)
 
 The carla_ros_bridge could also be used to record all published topics into a rosbag:
@@ -195,3 +203,22 @@ This command will create a rosbag /tmp/save_session.bag
 
 You can of course also use rosbag record to do the same, but using the ros_bridge to do the recording you have the guarentee that all the message are saved without small desynchronization that could occurs when using *rosbag record* in an other process.
 
+
+# Troubleshooting
+
+## ImportError: No module named carla
+
+You're missing Carla Python. Please execute:
+
+    export PYTHONPATH=$PYTHONPATH:<path/to/carla/>/PythonAPI/<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.
+Depending on the type of CARLA (pre-build, or build from source), the egg files
+are typically located either directly in the PythonAPI folder or in PythonAPI/dist.
+
+Check the installation is successfull by trying to import carla from python:
+
+    python -c 'import carla;print("Success")'
+
+You should see the Success message without any errors.

carla_ackermann_control/launch/carla_ros_bridge_with_ackermann_control.launch

@@ -1,5 +1,8 @@
 <!-- -->
 <launch>
+  <arg name='host' default='localhost'/>
+  <arg name='port' default='2000'/>
+
   <include file="$(find carla_ros_bridge)/launch/carla_ros_bridge.launch" pass_all_args="true"/>
   <include file="$(find carla_ackermann_control)/launch/carla_ackermann_control.launch"/>
 </launch>

carla_ego_vehicle/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(carla_ego_vehicle)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+)
+
+catkin_python_setup()
+
+catkin_package(
+        CATKIN_DEPENDS
+        rospy
+)
+
+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}
+)
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)

carla_ego_vehicle/README.md

@@ -0,0 +1,67 @@
+# 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
+- LIDAR
+- Cameras (one front-camera + one camera for visualization in carla_ros_manual_control)
+- Collision Sensor
+- Lane Invasion Sensor
+
+Info: To be able to use carla_ros_manual_control a camera with role-name 'view' is required.
+
+If no specific position is set, the ego vehicle is spawned at a random position.
+
+
+### Spawning at specific position
+
+It is possible to (re)spawn the ego vehicle at the specific location by publishing to `/initialpose`.
+
+The preferred way of doing that is using RVIZ:
+
+![Autoware Runtime Manager Settings](../docs/images/rviz_set_start_goal.png)
+
+Selecting a Pose with '2D Pose Estimate' will delete the current ego_vehicle and respawn it at the specified position.
+
+
+### Create your own sensor setup
+
+To setup your own ego vehicle with sensors, follow a similar approach as in `carla_example_ego_vehicle` by subclassing from `CarlaEgoVehicleBase`.
+
+Define sensors with their attributes as described in the Carla Documentation about [Cameras and Sensors](https://github.com/carla-simulator/carla/blob/master/Docs/cameras_and_sensors.md).
+
+The format is a list of dictionaries. One dictionary has the values as follows:
+
+    {
+        'type': '<SENSOR-TYPE>',
+        'role_name': '<NAME>',
+        'x': 0.0, 'y': 0.0, 'z': 0.0, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0, # pose of the sensor, relative to the vehicle
+        <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_example_ego_vehicle.launch

@@ -0,0 +1,13 @@
+<!-- -->
+<launch>
+  <arg name='host' default='localhost'/>
+  <arg name='port' default='2000'/>
+  <arg name="vehicle_filter" default="vehicle.*" />
+
+  <param name="/carla/host" value="$(arg host)" />
+  <param name="/carla/port" value="$(arg port)" />
+  <param name="/carla/client/vehicle_filter" value="$(arg vehicle_filter)" />
+
+  <node pkg="carla_ego_vehicle" type="carla_example_ego_vehicle.py" name="carla_example_ego_vehicle" output="screen"/>
+</launch>
+

carla_ego_vehicle/launch/carla_ros_manual_control.launch

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

carla_ego_vehicle/package.xml

@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>carla_ego_vehicle</name>
+  <version>0.0.0</version>
+  <description>The carla_ego_vehicle 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>
+  <export>
+  </export>
+</package>

carla_ego_vehicle/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_ego_vehicle'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)
+