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Merge pull request #8 from carla-simulator/feature/ros_bridge_api_v0.9
Feature/ros bridge api v0.9
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| *.pyc | ||
| build.gradle |
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| [TYPECHECK] | ||
| ignored-modules=numpy,carla | ||
| disable=logging-format-interpolation,locally-disabled,cyclic-import,too-many-instance-attributes,invalid-name |
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| cmake_minimum_required(VERSION 2.8.3) | ||
| project(carla_ros_bridge) | ||
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| ## Compile as C++11, supported in ROS Kinetic and newer | ||
| # add_compile_options(-std=c++11) | ||
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| ## Find catkin macros and libraries | ||
| ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) | ||
| ## is used, also find other catkin packages | ||
| find_package(catkin REQUIRED COMPONENTS | ||
| rospy | ||
| sensor_msgs | ||
| tf | ||
| ) | ||
|
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| ## System dependencies are found with CMake's conventions | ||
| # find_package(Boost REQUIRED COMPONENTS system) | ||
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| ## Uncomment this if the package has a setup.py. This macro ensures | ||
| ## modules and global scripts declared therein get installed | ||
| ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html | ||
| catkin_python_setup() | ||
|
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| ################################################ | ||
| ## Declare ROS messages, services and actions ## | ||
| ################################################ | ||
|
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| ## To declare and build messages, services or actions from within this | ||
| ## package, follow these steps: | ||
| ## * Let MSG_DEP_SET be the set of packages whose message types you use in | ||
| ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). | ||
| ## * In the file package.xml: | ||
| ## * add a build_depend tag for "message_generation" | ||
| ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET | ||
| ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in | ||
| ## but can be declared for certainty nonetheless: | ||
| ## * add a run_depend tag for "message_runtime" | ||
| ## * In this file (CMakeLists.txt): | ||
| ## * add "message_generation" and every package in MSG_DEP_SET to | ||
| ## find_package(catkin REQUIRED COMPONENTS ...) | ||
| ## * add "message_runtime" and every package in MSG_DEP_SET to | ||
| ## catkin_package(CATKIN_DEPENDS ...) | ||
| ## * uncomment the add_*_files sections below as needed | ||
| ## and list every .msg/.srv/.action file to be processed | ||
| ## * uncomment the generate_messages entry below | ||
| ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) | ||
|
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| ## Generate messages in the 'msg' folder | ||
| # add_message_files( | ||
| # FILES | ||
| # Message1.msg | ||
| # Message2.msg | ||
| # ) | ||
|
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| ## Generate services in the 'srv' folder | ||
| # add_service_files( | ||
| # FILES | ||
| # Service1.srv | ||
| # Service2.srv | ||
| # ) | ||
|
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| ## Generate actions in the 'action' folder | ||
| # add_action_files( | ||
| # FILES | ||
| # Action1.action | ||
| # Action2.action | ||
| # ) | ||
|
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| ## Generate added messages and services with any dependencies listed here | ||
| # generate_messages( | ||
| # DEPENDENCIES | ||
| # sensor_msgs | ||
| # ) | ||
|
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| ################################################ | ||
| ## Declare ROS dynamic reconfigure parameters ## | ||
| ################################################ | ||
|
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||
| ## To declare and build dynamic reconfigure parameters within this | ||
| ## package, follow these steps: | ||
| ## * In the file package.xml: | ||
| ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" | ||
| ## * In this file (CMakeLists.txt): | ||
| ## * add "dynamic_reconfigure" to | ||
| ## find_package(catkin REQUIRED COMPONENTS ...) | ||
| ## * uncomment the "generate_dynamic_reconfigure_options" section below | ||
| ## and list every .cfg file to be processed | ||
|
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| ## Generate dynamic reconfigure parameters in the 'cfg' folder | ||
| # generate_dynamic_reconfigure_options( | ||
| # cfg/DynReconf1.cfg | ||
| # cfg/DynReconf2.cfg | ||
| # ) | ||
|
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||
| ################################### | ||
| ## catkin specific configuration ## | ||
| ################################### | ||
| ## The catkin_package macro generates cmake config files for your package | ||
| ## Declare things to be passed to dependent projects | ||
| ## INCLUDE_DIRS: uncomment this if your package contains header files | ||
| ## LIBRARIES: libraries you create in this project that dependent projects also need | ||
| ## CATKIN_DEPENDS: catkin_packages dependent projects also need | ||
| ## DEPENDS: system dependencies of this project that dependent projects also need | ||
| catkin_package( | ||
| # INCLUDE_DIRS include | ||
| # LIBRARIES carla_ros_bridge | ||
| # CATKIN_DEPENDS rospy sensor_msgs tf | ||
| # DEPENDS system_lib | ||
| add_message_files( | ||
| FILES | ||
| CarlaVehicleControl.msg | ||
| ) | ||
|
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| ########### | ||
| ## Build ## | ||
| ########### | ||
|
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| ## Specify additional locations of header files | ||
| ## Your package locations should be listed before other locations | ||
| include_directories( | ||
| # include | ||
| ${catkin_INCLUDE_DIRS} | ||
| generate_messages( | ||
| DEPENDENCIES | ||
| sensor_msgs | ||
| ) | ||
|
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| ## Declare a C++ library | ||
| # add_library(${PROJECT_NAME} | ||
| # src/${PROJECT_NAME}/carla_ros_bridge.cpp | ||
| # ) | ||
|
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| ## Add cmake target dependencies of the library | ||
| ## as an example, code may need to be generated before libraries | ||
| ## either from message generation or dynamic reconfigure | ||
| # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
|
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| ## Declare a C++ executable | ||
| ## With catkin_make all packages are built within a single CMake context | ||
| ## The recommended prefix ensures that target names across packages don't collide | ||
| # add_executable(${PROJECT_NAME}_node src/carla_ros_bridge_node.cpp) | ||
|
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| ## Rename C++ executable without prefix | ||
| ## The above recommended prefix causes long target names, the following renames the | ||
| ## target back to the shorter version for ease of user use | ||
| ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" | ||
| # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") | ||
|
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| ## Add cmake target dependencies of the executable | ||
| ## same as for the library above | ||
| # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
|
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| ## Specify libraries to link a library or executable target against | ||
| # target_link_libraries(${PROJECT_NAME}_node | ||
| # ${catkin_LIBRARIES} | ||
| # ) | ||
|
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| ############# | ||
| ## Install ## | ||
| ############# | ||
| catkin_package() | ||
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| # all install targets should use catkin DESTINATION variables | ||
| # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html | ||
|
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| ## Mark executable scripts (Python etc.) for installation | ||
| ## in contrast to setup.py, you can choose the destination | ||
| # install(PROGRAMS | ||
| # scripts/my_python_script | ||
| # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| # ) | ||
|
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| ## Mark executables and/or libraries for installation | ||
| # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node | ||
| # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| # ) | ||
| include_directories( | ||
| ${catkin_INCLUDE_DIRS} | ||
| ) | ||
|
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| ## Mark cpp header files for installation | ||
| # install(DIRECTORY include/${PROJECT_NAME}/ | ||
| # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | ||
| # FILES_MATCHING PATTERN "*.h" | ||
| # PATTERN ".svn" EXCLUDE | ||
| # ) | ||
| install(PROGRAMS | ||
| src/carla_ros_bridge/client.py | ||
| DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| ) | ||
|
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| ## Mark other files for installation (e.g. launch and bag files, etc.) | ||
| install(FILES | ||
| client.launch | ||
| client_with_rviz.launch | ||
| test/ros_bridge_client.test | ||
| install(FILES | ||
| client.launch | ||
| client_with_rviz.launch | ||
| test/ros_bridge_client.test | ||
| DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| ) | ||
|
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| ############# | ||
| ## Testing ## | ||
| ############# | ||
| ) | ||
|
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| ## Add gtest based cpp test target and link libraries | ||
| # catkin_add_gtest(${PROJECT_NAME}-test test/test_carla_ros_bridge.cpp) | ||
| # if(TARGET ${PROJECT_NAME}-test) | ||
| # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) | ||
| # endif() | ||
| install(DIRECTORY | ||
| config | ||
| DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| ) | ||
|
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| ## Add folders to be run by python nosetests | ||
| # catkin_add_nosetests(test) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| #!/bin/bash | ||
| autopep8 src/carla_ros_bridge/*.py --in-place --max-line-length=100 | ||
| pylint --rcfile=.pylintrc src/carla_ros_bridge/ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,5 +1,4 @@ | ||
| <launch> | ||
| <include file="$(find carla_ros_bridge)/client.launch" pass_all_args="True"/> | ||
| <param name ="/use_sim_time" value="true"/> | ||
| <node pkg="rviz" type="rviz" name="rviz" args="-d $(find carla_ros_bridge)/config/carla_default_rviz.cfg.rviz"/> | ||
| </launch> |
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