set sumo vehicle id to corresponding carla vehicle role name

usdot-fhwa-stol · Jul 21, 2023 · fe546ed · fe546ed
1 parent eb338a5
commit fe546ed
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/co-simulation/bridge/carla_integration/bridge_helper.py b/co-simulation/bridge/carla_integration/bridge_helper.py
@@ -111,7 +111,7 @@ def _get_recommended_carla_blueprint(sumo_actor):
         return random.choice(blueprints)
 
     @staticmethod
-    def get_carla_blueprint(sumo_actor, sync_color=False):
+    def get_carla_blueprint(sumo_actor, sumo_id, sync_color=False):
         """
         Returns an appropriate blueprint based on the received sumo actor.
         """
@@ -144,7 +144,7 @@ def get_carla_blueprint(sumo_actor, sync_color=False):
             driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
             blueprint.set_attribute('driver_id', driver_id)
 
-        blueprint.set_attribute('role_name', 'sumo_driver')
+        blueprint.set_attribute('role_name', sumo_id)
 
         logging.debug(
             '''[BridgeHelper] sumo vtype %s will be spawned in carla with the following attributes:

diff --git a/co-simulation/bridge/carla_integration/synchronization.py b/co-simulation/bridge/carla_integration/synchronization.py
@@ -99,7 +99,7 @@ def tick(self):
         sumo_spawned_actors = self.sumo.spawned_actors - set(self.carla2sumo_ids.values())
         for sumo_actor_id in sumo_spawned_actors:
             sumo_actor = self.sumo.get_actor(sumo_actor_id)
-            carla_blueprint = BridgeHelper.get_carla_blueprint(sumo_actor, self.sync_vehicle_color)
+            carla_blueprint = BridgeHelper.get_carla_blueprint(sumo_actor, sumo_actor_id, self.sync_vehicle_color)
             if carla_blueprint is not None:
                 carla_transform = BridgeHelper.get_carla_transform(sumo_actor.transform,
                                                                    sumo_actor.extent)