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fix failure transferring sensor data from carla to carma #19
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691294b
Remove unnecessary part
chengyuan0124 49a030c
Update the method of loading parameter from parse rather than from ca…
chengyuan0124 68205e6
Correct wrong syntax usage in launch file
chengyuan0124 b88363e
Change log level and handle situation when all sensors being disabled
chengyuan0124 086d3ab
Adding simulation mode config for docker_compose_generator
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227 changes: 100 additions & 127 deletions
227
carma-carla-integration/carla_sensors_integration/src/carla_sensors_integration_node.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,157 +1,130 @@ | ||
| #include "carla_sensors_integration_node.h" | ||
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| #include<ros/ros.h> | ||
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| namespace carla_sensors | ||
| { | ||
| void CarlaSensorsNode::initialize() | ||
| namespace carla_sensors { | ||
| void CarlaSensorsNode::initialize() { | ||
| nh_.reset(new ros::CARMANodeHandle()); | ||
| points_raw_pub_ = nh_ -> advertise < sensor_msgs::PointCloud2 > ("points_raw", 1); | ||
| image_raw_pub_ = nh_ -> advertise < sensor_msgs::Image > ("image_raw", 1); | ||
| image_color_pub_ = nh_ -> advertise < sensor_msgs::Image > ("image_color", 1); | ||
| image_rect_pub_ = nh_ -> advertise < sensor_msgs::Image > ("image_rect", 1); | ||
| camera_info_pub_ = nh_ -> advertise < sensor_msgs::CameraInfo > ("camera_info", 1); | ||
| gnss_fixed_fused_pub_ = nh_ -> advertise < gps_common::GPSFix > ("gnss_fix_fused", 1); | ||
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| pnh_.reset(new ros::CARMANodeHandle("~")); | ||
| pnh_ -> getParam("role_name", carla_vehicle_role_); | ||
| pnh_ -> getParam("object_detection_stream", object_detection_stream_enabled); | ||
| pnh_ -> getParam("localization_stream", localization_stream_enabled); | ||
| pnh_ -> getParam("carla_lidar_stream", carla_lidar_stream_enabled); | ||
| pnh_ -> getParam("carla_camera_stream", carla_camera_stream_enabled); | ||
| pnh_ -> getParam("carla_gnss_stream", carla_gnss_stream_enabled); | ||
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| if(!carla_lidar_stream_enabled && !carla_camera_stream_enabled && !carla_gnss_stream_enabled) | ||
| { | ||
| nh_.reset(new ros::CARMANodeHandle()); | ||
| points_raw_pub_ = nh_->advertise<sensor_msgs::PointCloud2>("points_raw", 1); | ||
| image_raw_pub_= nh_->advertise<sensor_msgs::Image>("image_raw", 1); | ||
| image_color_pub_ = nh_->advertise<sensor_msgs::Image>("image_color",1); | ||
| image_rect_pub_ = nh_->advertise<sensor_msgs::Image>("image_rect", 1); | ||
| camera_info_pub_ = nh_->advertise<sensor_msgs::CameraInfo>("camera_info", 1); | ||
| gnss_fixed_fused_pub_ = nh_->advertise<gps_common::GPSFix>("gnss_fix_fused", 1); | ||
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| pnh_.reset(new ros::CARMANodeHandle()); | ||
| pnh_->getParam("role_name", carla_vehicle_role_); | ||
| pnh_->getParam("object_detection_stream", object_detection_stream_enabled); | ||
| pnh_->getParam("localization_stream", localization_stream_enabled); | ||
| pnh_->getParam("carla_lidar_stream", carla_lidar_stream_enabled); | ||
| pnh_->getParam("carla_camera_stream", carla_camera_stream_enabled); | ||
| pnh_->getParam("carla_gnss_stream", carla_gnss_stream_enabled); | ||
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| //Subscribers | ||
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| /*Lidar*/ | ||
| if (!carla_lidar_stream_enabled) | ||
| { | ||
| ROS_ERROR_STREAM("CARLA LIDAR data stream is disabled"); | ||
| } | ||
| else if (localization_stream_enabled && object_detection_stream_enabled) | ||
| { | ||
| throw std::invalid_argument("CARLA LIDAR sensor and both ground truth data streams cannot be enabled at the same time"); | ||
| } | ||
| else | ||
| { | ||
| point_cloud_sub_ = nh_->subscribe<sensor_msgs::PointCloud2>("/carla/" + carla_vehicle_role_ +"/lidar/lidar/point_cloud", 10, &CarlaSensorsNode::point_cloud_cb, this); | ||
| } | ||
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| /*Camera*/ | ||
| if (!carla_camera_stream_enabled) | ||
| { | ||
| ROS_ERROR_STREAM("CARLA camera data stream is disabled"); | ||
| } | ||
| else if (carla_camera_stream_enabled && object_detection_stream_enabled) | ||
| { | ||
| throw std::invalid_argument("CARLA Camera sensor and ground truth object detection cannot be enabled at the same time"); | ||
| } | ||
| else | ||
| { | ||
| image_raw_sub_ = nh_->subscribe<sensor_msgs::Image>("/carla/" + carla_vehicle_role_ + "/camera/rgb/front/image", 10, &CarlaSensorsNode::image_raw_cb, this); | ||
| image_color_sub_ = nh_->subscribe<sensor_msgs::Image>("/carla/" + carla_vehicle_role_ + "/camera/rgb/front/image_color", 10, &CarlaSensorsNode::image_color_cb, this); | ||
| image_rect_sub_ = nh_->subscribe<sensor_msgs::Image>("/carla/" + carla_vehicle_role_ + "/camera/rgb/front/image_rect", 10, &CarlaSensorsNode::image_rect_cb, this); | ||
| } | ||
| /*GNSS*/ | ||
| if (!carla_gnss_stream_enabled) | ||
| { | ||
| ROS_ERROR_STREAM("CARLA camera data stream is disabled"); | ||
| } | ||
| else if (carla_gnss_stream_enabled && localization_stream_enabled) | ||
| { | ||
| throw std::invalid_argument("CARLA GNSS sensor and ground truth localization cannot be enabled at the same time"); | ||
| } | ||
| else | ||
| { | ||
| gnss_fixed_fused_sub_ = nh_->subscribe<sensor_msgs::NavSatFix>("/carla/" + carla_vehicle_role_ + "/gnss/novatel_gnss/fix", 10, &CarlaSensorsNode::gnss_fixed_fused_cb, this); | ||
| } | ||
| camera_info_sub_ = nh_->subscribe<sensor_msgs::CameraInfo>("/carla/" + carla_vehicle_role_ + "/camera/rgb/front/camera_info", 10, &CarlaSensorsNode::camera_info_cb, this); | ||
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| ROS_ERROR_STREAM("Camera, Lidar and GNSS are disabled. Please make sure the configuration being set properly"); | ||
| return; | ||
| } | ||
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| void CarlaSensorsNode::run() | ||
| { | ||
| initialize(); | ||
| ros::CARMANodeHandle::spin(); | ||
| /*Lidar*/ | ||
| if (!carla_lidar_stream_enabled) { | ||
| ROS_DEBUG_STREAM("CARLA LIDAR data stream is disabled"); | ||
| } else if (localization_stream_enabled && object_detection_stream_enabled) { | ||
| throw std::invalid_argument("CARLA LIDAR sensor and both ground truth data streams cannot be enabled at the same time"); | ||
| } else { | ||
| point_cloud_sub_ = nh_ -> subscribe < sensor_msgs::PointCloud2 > ("/carla/" + carla_vehicle_role_ + "/lidar/lidar/point_cloud", 10, & CarlaSensorsNode::point_cloud_cb, this); | ||
| } | ||
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| void CarlaSensorsNode::point_cloud_cb(sensor_msgs::PointCloud2 point_cloud) | ||
| { | ||
| if (point_cloud.data.size() == 0) | ||
| { | ||
| throw std::invalid_argument(" Invalid LIDAR Point Cloud Data"); | ||
| exit(0); | ||
| } | ||
| if (point_cloud.header.stamp == point_cloud_msg.header.stamp && point_cloud_msg.header.seq != 0) | ||
| { | ||
| return; | ||
| } | ||
| /*Camera*/ | ||
| if (!carla_camera_stream_enabled) { | ||
| ROS_DEBUG_STREAM("CARLA camera data stream is disabled"); | ||
| } else if (object_detection_stream_enabled) { | ||
| throw std::invalid_argument("CARLA Camera sensor and ground truth object detection cannot be enabled at the same time"); | ||
| } else { | ||
| image_raw_sub_ = nh_ -> subscribe < sensor_msgs::Image > ("/carla/" + carla_vehicle_role_ + "/camera/rgb/front/image", 10, & CarlaSensorsNode::image_raw_cb, this); | ||
| image_color_sub_ = nh_ -> subscribe < sensor_msgs::Image > ("/carla/" + carla_vehicle_role_ + "/camera/rgb/front/image_color", 10, & CarlaSensorsNode::image_color_cb, this); | ||
| image_rect_sub_ = nh_ -> subscribe < sensor_msgs::Image > ("/carla/" + carla_vehicle_role_ + "/camera/rgb/front/image_rect", 10, & CarlaSensorsNode::image_rect_cb, this); | ||
| } | ||
| /*GNSS*/ | ||
| if (!carla_gnss_stream_enabled) { | ||
| ROS_DEBUG_STREAM("CARLA camera data stream is disabled"); | ||
| } else if (localization_stream_enabled) { | ||
| throw std::invalid_argument("CARLA GNSS sensor and ground truth localization cannot be enabled at the same time"); | ||
| } else { | ||
| gnss_fixed_fused_sub_ = nh_ -> subscribe < sensor_msgs::NavSatFix > ("/carla/" + carla_vehicle_role_ + "/gnss/novatel_gnss/fix", 10, & CarlaSensorsNode::gnss_fixed_fused_cb, this); | ||
| } | ||
| camera_info_sub_ = nh_ -> subscribe < sensor_msgs::CameraInfo > ("/carla/" + carla_vehicle_role_ + "/camera/rgb/front/camera_info", 10, & CarlaSensorsNode::camera_info_cb, this); | ||
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| carla_worker_.point_cloud_cb(point_cloud); | ||
| } | ||
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| point_cloud_msg = carla_worker_.get_lidar_msg(); | ||
| points_raw_pub_.publish(point_cloud_msg); | ||
| void CarlaSensorsNode::run() { | ||
| initialize(); | ||
| ros::CARMANodeHandle::spin(); | ||
| } | ||
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| void CarlaSensorsNode::point_cloud_cb(sensor_msgs::PointCloud2 point_cloud) { | ||
| if (point_cloud.data.size() == 0) { | ||
| throw std::invalid_argument(" Invalid LIDAR Point Cloud Data"); | ||
| exit(0); | ||
| } | ||
| if (point_cloud.header.stamp == point_cloud_msg.header.stamp && point_cloud_msg.header.seq != 0) { | ||
| return; | ||
| } | ||
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| void CarlaSensorsNode::image_raw_cb(sensor_msgs::Image image_raw) | ||
| { | ||
| if (image_raw.data.size() == 0) | ||
| { | ||
| throw std::invalid_argument("Invalid image data"); | ||
| } | ||
| carla_worker_.image_raw_cb(image_raw); | ||
| image_raw_msg = carla_worker_.get_image_raw_msg(); | ||
| image_raw_pub_.publish(image_raw_msg); | ||
| carla_worker_.point_cloud_cb(point_cloud); | ||
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| } | ||
| point_cloud_msg = carla_worker_.get_lidar_msg(); | ||
| points_raw_pub_.publish(point_cloud_msg); | ||
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| void CarlaSensorsNode::image_color_cb(sensor_msgs::Image image_color) | ||
| { | ||
| } | ||
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| void CarlaSensorsNode::image_raw_cb(sensor_msgs::Image image_raw) { | ||
| if (image_raw.data.size() == 0) { | ||
| throw std::invalid_argument("Invalid image data"); | ||
| } | ||
| carla_worker_.image_raw_cb(image_raw); | ||
| image_raw_msg = carla_worker_.get_image_raw_msg(); | ||
| image_raw_pub_.publish(image_raw_msg); | ||
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| if (image_color.data.size() == 0) | ||
| { | ||
| throw std::invalid_argument("Invalid image data"); | ||
| } | ||
| } | ||
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| carla_worker_.image_color_cb(image_color); | ||
| image_color_msg = carla_worker_.get_image_color_msg(); | ||
| image_color_pub_.publish(image_color_msg); | ||
| void CarlaSensorsNode::image_color_cb(sensor_msgs::Image image_color) { | ||
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| if (image_color.data.size() == 0) { | ||
| throw std::invalid_argument("Invalid image data"); | ||
| } | ||
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| void CarlaSensorsNode::image_rect_cb(sensor_msgs::Image image_rect) | ||
| { | ||
| if (image_rect.data.size() == 0) | ||
| { | ||
| throw std::invalid_argument("Invalid image data"); | ||
| } | ||
| carla_worker_.image_color_cb(image_color); | ||
| image_color_msg = carla_worker_.get_image_color_msg(); | ||
| image_color_pub_.publish(image_color_msg); | ||
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| carla_worker_.image_rect_cb(image_rect); | ||
| image_rect_msg = carla_worker_.get_image_rect_msg(); | ||
| image_rect_pub_.publish(image_rect_msg); | ||
| } | ||
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| void CarlaSensorsNode::image_rect_cb(sensor_msgs::Image image_rect) { | ||
| if (image_rect.data.size() == 0) { | ||
| throw std::invalid_argument("Invalid image data"); | ||
| } | ||
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| void CarlaSensorsNode::camera_info_cb(sensor_msgs::CameraInfo camera_info) | ||
| { | ||
| carla_worker_.image_rect_cb(image_rect); | ||
| image_rect_msg = carla_worker_.get_image_rect_msg(); | ||
| image_rect_pub_.publish(image_rect_msg); | ||
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| carla_worker_.camera_info_cb(camera_info); | ||
| } | ||
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| camera_info_msg = carla_worker_.get_camera_info(); | ||
| camera_info_pub_.publish(camera_info_msg); | ||
| void CarlaSensorsNode::camera_info_cb(sensor_msgs::CameraInfo camera_info) { | ||
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| } | ||
| carla_worker_.camera_info_cb(camera_info); | ||
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| void CarlaSensorsNode::gnss_fixed_fused_cb(sensor_msgs::NavSatFix gnss_fixed) | ||
| { | ||
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| camera_info_msg = carla_worker_.get_camera_info(); | ||
| camera_info_pub_.publish(camera_info_msg); | ||
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| carla_worker_.gnss_fixed_fused_cb(gnss_fixed); | ||
| gnss_fixed_msg = carla_worker_.get_gnss_fixed_msg(); | ||
| gnss_fixed_fused_pub_.publish(gnss_fixed_msg); | ||
| } | ||
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| } | ||
| } | ||
| void CarlaSensorsNode::gnss_fixed_fused_cb(sensor_msgs::NavSatFix gnss_fixed) { | ||
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| carla_worker_.gnss_fixed_fused_cb(gnss_fixed); | ||
| gnss_fixed_msg = carla_worker_.get_gnss_fixed_msg(); | ||
| gnss_fixed_fused_pub_.publish(gnss_fixed_msg); | ||
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| } | ||
| } | ||
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Do we need a catch-all somewhere to check if we've got a minimal set of data to run with? If we turn off simulated lidar/gnss AND the localization truth data, we've got nothing to work with at all. I imagine CARMA Platform downstream of these nodes would complain in that case, but the error would be further away from the source than if we were to check that somewhere here.