Feature/carla carma state integration

carla-carma-integration/carla_carma_bridge/src/carla_carma_bridge/carma_carla_guidance

@@ -32,14 +32,18 @@ def check_plugin_status(plugin_msg):
         plugins_activated = True
 
 def initialize():
+    rospy.init_node("carma_carla_guidance")
     service = rospy.ServiceProxy('/set_active_guidance')
-    route_sub = rospy.Subscriber("/route_event",RouteEvent(), check_route_status)
-    plugin_sub = rospy.Subscriber("/plugin_discovery", Plugin(), check_plugin_status)
-    if route_selected == True:
-        if plugins_activated == True:
-            service.call()
-    else:
-        rospy.spin()
+    #While-loop monitors the route and plugin status and sets guidance to active once both are confirmed true
+    while rospy.is_shutdown() != True:
+        route_sub = rospy.Subscriber("/route_event",RouteEvent(), check_route_status)
+        plugin_sub = rospy.Subscriber("/plugin_discovery", Plugin(), check_plugin_status)
+        if route_selected == True:
+            if plugins_activated == True:
+                service.call(True) #Sets guidance status to active
+                break
+
+    rospy.spin()
 
 if __name__ == '__main__':
     print("carma_carla_guidance")

carla-carma-integration/carla_carma_bridge/src/carla_carma_bridge/carma_carla_plugins

@@ -66,6 +66,7 @@ def check_plugin_registration(plugin):
 
 
 def initialize():
+    rospy.init_node("carma_carla_plugins")
     registered_plugins_serv = rospy.ServiceProxy('/get_registered_plugins')
     plugin_list.plugins = registered_plugins_serv.call()
     plugin_sub = rospy.Subscriber('/plugin_discovery',Plugin(), plugin_status_cb)

carla-carma-integration/carla_carma_bridge/src/carla_carma_bridge/carma_carla_route

@@ -113,6 +113,7 @@ def check_selected_route(available_routes):
         return selected_route
 
 def initialize():
+    rospy.init_node("carma_carla_route")
     route_event_sub = rospy.Subscriber('/guidance/route_event', RouteEvent,route_event_callback)
     available_routes = get_available_routes()