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Fill CarlaEgoVehicleControl message header #624

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Fill CarlaEgoVehicleControl message header #624

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3f9bcae
Fill CarlaEgoVehicleControl message header
berndgassmann Jul 7, 2022
b51b0a0
Revert invalid launch file changes
berndgassmann Jul 11, 2022
a7ece33
Remove empty launch args default_value
FelipeGdM Jun 27, 2022
710d95d
Merge remote-tracking branch 'public-github/0.9.11-compat' into 0.9.1…
berndgassmann Jul 27, 2022
28c20ad
Fix typo
berndgassmann Nov 16, 2022
63bc98b
Fix carla_ad_agent
berndgassmann Nov 16, 2022
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6 changes: 6 additions & 0 deletions carla_ad_agent/src/carla_ad_agent/local_planner.py
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Original file line number Diff line number Diff line change
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 @@ -158,6 +161,7 @@ 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 +180,8 @@ 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
10 changes: 8 additions & 2 deletions carla_ad_agent/src/carla_ad_agent/vehicle_pid_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,8 +55,14 @@ def run_step(self, target_speed, current_speed, current_pose, waypoint):
:return: control signal (throttle and steering)
"""
control = CarlaEgoVehicleControl()
throttle = self._lon_controller.run_step(target_speed, current_speed)
steering = self._lat_controller.run_step(current_pose, waypoint)
if current_speed:
throttle = self._lon_controller.run_step(target_speed, current_speed)
else:
throttle = 0.0
if current_pose:
steering = self._lat_controller.run_step(current_pose, waypoint)
else:
sterring = 0.0
control.steer = -steering
control.throttle = throttle
control.brake = 0.0
Expand Down