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Fill CarlaEgoVehicleControl message header #643

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Fill CarlaEgoVehicleControl message header #643

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80ad304
Fill CarlaEgoVehicleControl message header
berndgassmann Oct 19, 2022
a6f1df5
Fix typo
berndgassmann Nov 16, 2022
fae2364
Fix carla_ad_agent
berndgassmann Nov 16, 2022
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2 changes: 2 additions & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
## Latest

* carla_ad_agent: Fill CarlaEgoVehicleControl message header

## CARLA-ROS-Bridge 0.9.12

* Fixed scenario runner node shutdown for foxy
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11 changes: 11 additions & 0 deletions carla_ad_agent/src/carla_ad_agent/local_planner.py
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Expand Up @@ -59,6 +59,7 @@ def __init__(self):

self.data_lock = threading.Lock()

self._current_header = None
self._current_pose = None
self._current_speed = None
self._target_speed = 0.0
Expand Down Expand Up @@ -100,6 +101,8 @@ def __init__(self):

def odometry_cb(self, odometry_msg):
with self.data_lock:
self._current_header = odometry_msg.header
self._current_header.frame_id = odometry_msg.child_frame_id
self._current_pose = odometry_msg.pose.pose
self._current_speed = math.sqrt(odometry_msg.twist.twist.linear.x ** 2 +
odometry_msg.twist.twist.linear.y ** 2 +
Expand Down Expand Up @@ -138,6 +141,11 @@ def run_step(self):
self.emergency_stop()
return

if (self._current_pose is None) or (self._current_speed is None) or (self._current_header is None):
self.loginfo("Waiting for first odometry message...")
self.emergency_stop()
return

# when target speed is 0, brake.
if self._target_speed == 0.0:
self.emergency_stop()
Expand All @@ -158,6 +166,7 @@ def run_step(self):
# move using PID controllers
control_msg = self._vehicle_controller.run_step(
self._target_speed, self._current_speed, self._current_pose, target_pose)
control_msg.header = self._current_header

# purge the queue of obsolete waypoints
max_index = -1
Expand All @@ -176,6 +185,8 @@ def run_step(self):

def emergency_stop(self):
control_msg = CarlaEgoVehicleControl()
if self._current_header:
control_msg.header = self._current_header
control_msg.steer = 0.0
control_msg.throttle = 0.0
control_msg.brake = 1.0
Expand Down