Revert "Minor release v0.1.1"

This reverts commit dba2cf3.

beamng_control/launch/example.launch

@@ -1,10 +1,9 @@
 <launch>
-    <arg name="scenario" default="west_coast_with_no_sensors" doc="[utah_scenario_with_lidar,utah_scenario_with_cam,utah_with_all_sensors, simple_scenario,simple_scenario_no_sensors, simple_scenario_pickup,simple_scenario_with_lidar,simple_scenario_cam, west_coast_with_electrics, west_coast_with_imu,west_coast_with_electrics_and_lidar, west_coast_with_lidar,weather,west_coast_with_sensors, west_coast_with_ultrasonic,west_coast_with_time,west_coast_with_damage,west_coast_with_gforce,west_coast_with_no_sensors,west_scenario_with_cam, west_coast_with_all_sensors]"/>
+    <arg name="scenario" default="west_coast_with_imu" doc="[west_coast_with_damage,west_coast_with_electrics, west_coast_with_imu, west_coast_with_lidar]"/>
     <include file="$(find beamng_control)/launch/bridge.launch">
         <!-- substitute with the ip address of your target machine-->
-          <arg name="host" value="192.168.1.107"/> 
-          <!-- <arg name="host" value="192.168.46.57"/>  -->
+          <arg name="host" value="192.168.34.88"/> 
         <!-- choose scenario-->
         <arg name="scenario_config" value="$(find beamng_control)/config/scenarios/$(arg scenario).json"/>
     </include>
-</launch>
+</launch>

beamng_control/scripts/beamng_control/bridge.py

@@ -383,7 +383,7 @@ def main():
                        f' version is {available_version}, aborting process.')
         sys.exit(1)
 
-   # bngpy.setup_logging()
+    bngpy.setup_logging()
 
     argv = rospy.myargv(argv=sys.argv)
     rospy.loginfo("cmd args"+str(argv))

beamng_control/scripts/beamng_control/publishers.py

@@ -9,7 +9,7 @@
 import std_msgs.msg
 
 import beamngpy.sensors as bng_sensors
-#from beamngpy.noise import RandomImageNoise, RandomLIDARNoise
+from beamngpy.noise import RandomImageNoise, RandomLIDARNoise
 
 from visualization_msgs.msg import Marker, MarkerArray
 
@@ -27,8 +27,8 @@ def get_sensor_publisher(sensor):
         bng_sensors.Electrics: ElectricsPublisher,
         bng_sensors.Camera: CameraPublisher,
         bng_sensors.Lidar: LidarPublisher,
-       # RandomImageNoise: CameraPublisher,
-       #s RandomLIDARNoise: LidarPublisher
+        RandomImageNoise: CameraPublisher,
+        RandomLIDARNoise: LidarPublisher
     }
     for k, v in sensor_mapping.items():
         if isinstance(sensor, k):

beamng_control/scripts/beamng_control/sensorHelper.py

@@ -2,7 +2,7 @@
 import copy
 
 import beamngpy.sensors as bng_sensors
-#from beamngpy.noise import RandomImageNoise, RandomLIDARNoise
+from beamngpy.noise import RandomImageNoise, RandomLIDARNoise
 
 
 class SensorSpecificationError(TypeError):

beamng_teleop_keyboard/nodes/converter

@@ -3,7 +3,6 @@
 from logging import exception
 import rospy
 from geometry_msgs.msg import Twist
-from std_msgs.msg import String
 import subprocess
 import os
 import beamngpy as bngpy
@@ -14,8 +13,6 @@ class twist2bng():
 	def __init__(self):
 		self.BNG_pub = rospy.Publisher('/control', VehicleControl ,queue_size=10)
 		self.cmd_vel_sub = rospy.Subscriber( '/cmd_vel', Twist, self.cmd_vel_callback , queue_size=10 )
-		self.brake_sub = rospy.Subscriber( '/brake', String, self.brake_callback , queue_size=10 )
-		# self.brake_sub = rospy.Subscriber( '/brake', String, self.brake_callback , queue_size=10 )
 	#set puplish rate
 		self.checker_rate = rospy.Rate(10)
 		self.Vehicle_Control_msg=VehicleControl()
@@ -26,16 +23,11 @@ class twist2bng():
 		self.control_linear_vel=0
 		self.control_angular_vel=0
 		self.has_velosity=False
-		self.brake_state="False"
-		self.vehicle_state="initial"
 		self.main_loop()
+
 	# ------------- call back functions ---------------- #
 
 
-	def brake_callback(self, brake_state):
-		self.brake_state=brake_state.data
-		# print ("brake_state", self.brake_state)
-
 	def cmd_vel_callback(self, cmd_vel):
 		# self.has_velosity= cmd_vel
 		self.control_linear_vel_new= cmd_vel.linear.x
@@ -44,20 +36,22 @@ class twist2bng():
 
 	def twist_msg_comparison(self):     
 		if self.control_linear_vel_old != self.control_linear_vel_new:
-		    # print ("new data")
-		    self.convert_cmd_to_bng(self.control_linear_vel_new,self.control_angular_vel_new)
+            # print ("new reading")
+		    print ("new data")
 		    self.control_linear_vel_old = self.control_linear_vel_new
+		    self.convert_cmd_to_bng(self.control_linear_vel_new,self.control_angular_vel_new)
 		    return True 
 
 
 		if self.control_angular_vel_old != self.control_angular_vel_new:
-		    # print ("new data")
-		    self.convert_cmd_to_bng(self.control_linear_vel_new,self.control_angular_vel_new)
+            # print ("new reading")
+		    print ("new data")
 		    self.control_angular_vel_old = self.control_angular_vel_new
+		    self.convert_cmd_to_bng(self.control_linear_vel_new,self.control_angular_vel_new)
 		    return True 
 
 		else:
-		    # print ("old data")
+		    print ("old data")
 		    return  False
 
 
@@ -67,47 +61,58 @@ class twist2bng():
 
 
 	def convert_cmd_to_bng(self,control_linear_vel,control_angular_vel):
-			self.Vehicle_Control_msg=VehicleControl()
             # print ("inside convert_cmd_to_bng")
-			# print ("",control_linear_vel)
-			if self.brake_state=="True":
-				self.Vehicle_Control_msg.throttle = 0.0
-				self.Vehicle_Control_msg.steering = 0.0
-				self.Vehicle_Control_msg.brake = 1
-				self.Vehicle_Control_msg.parkingbrake = 1 
-				self.Vehicle_Control_msg.clutch = 1
-				self.Vehicle_Control_msg.gear = 1
-				self.vehicle_state="stop"
-    			# print ("",self.vehicle_state)
-
-			if self.brake_state=="False":
-				if control_linear_vel < 0.0:
-					self.Vehicle_Control_msg.throttle = abs(control_linear_vel)
-					self.Vehicle_Control_msg.steering = control_angular_vel
-					self.Vehicle_Control_msg.brake = 0
-					self.Vehicle_Control_msg.parkingbrake = 0 
-					self.Vehicle_Control_msg.clutch = 0
-					self.Vehicle_Control_msg.gear = -1
-					self.vehicle_state="reverse"
-     	# print ("",self.vehicle_state)
-
-				else:
-					self.Vehicle_Control_msg.throttle = abs(control_linear_vel)
-					self.Vehicle_Control_msg.steering = control_angular_vel
-					self.Vehicle_Control_msg.brake = 0
-					self.Vehicle_Control_msg.parkingbrake = 0 
-					self.Vehicle_Control_msg.clutch = 0
-					self.Vehicle_Control_msg.gear = 1
-					self.vehicle_state="go"
-			print ("",self.vehicle_state)
-			print ("",self.brake_state)
-
-
-
-
+            self.Vehicle_Control_msg=VehicleControl()
+
+            if control_linear_vel == 0.0 :    
+                self.Vehicle_Control_msg.throttle = 0.0
+                self.Vehicle_Control_msg.steering = 0.0
+                self.Vehicle_Control_msg.brake = 1
+                self.Vehicle_Control_msg.parkingbrake = 1 
+                self.Vehicle_Control_msg.clutch = 1
+                self.Vehicle_Control_msg.gear = 0
+
+            if control_linear_vel < 0.0 :
+                self.Vehicle_Control_msg.throttle = abs(control_linear_vel)
+                self.Vehicle_Control_msg.steering = control_angular_vel
+                self.Vehicle_Control_msg.brake = 0
+                self.Vehicle_Control_msg.parkingbrake = 0 
+                self.Vehicle_Control_msg.clutch = 0
+                self.Vehicle_Control_msg.gear = -1
+
+
+            else :
+                self.Vehicle_Control_msg.throttle = abs(control_linear_vel)
+                self.Vehicle_Control_msg.steering = control_angular_vel
+                self.Vehicle_Control_msg.brake = 0
+                self.Vehicle_Control_msg.parkingbrake = 0 
+                self.Vehicle_Control_msg.clutch = 0
+                self.Vehicle_Control_msg.gear = 1
+
+            # print ("",self.Vehicle_Control_msg)
             # self.BNG_pub.publish(self.Vehicle_Control_msg)
 
-
+	def move_from_terminal(self):
+            command= "rostopic pub -r 1 control beamng_msgs/VehicleControl "
+            throttle= self.Vehicle_Control_msg.throttle 
+            steering= self.Vehicle_Control_msg.steering 
+            brake= self.Vehicle_Control_msg.brake 
+            parkingbrake= self.Vehicle_Control_msg.parkingbrake  
+            clutch= self.Vehicle_Control_msg.clutch 
+            gear= self.Vehicle_Control_msg.gear 
+            combine = command + str(steering) + " "  + str(throttle) + " "  + str(brake) + " "  + str(parkingbrake) + " "  + str(clutch) + " "  + str(gear) 
+            # subprocess.run([combine], universal_newlines=True, shell=True)    
+            try:
+                print ("calling terminal")
+                print ("" , combine)
+                cp = subprocess.run([combine], universal_newlines=False, shell=False)
+            except :
+                print(" ------------------")
+                print(" ------------------")
+                print(" bridge error")
+                print(" ------------------")
+                print(" ------------------")
+
 
 
 
@@ -117,8 +122,9 @@ class twist2bng():
 			# print(self.twist_msg_comparison)
 			if self.twist_msg_comparison:
 			    self.BNG_pub.publish(self.Vehicle_Control_msg)    
-
-			# print("",self.vehicle_state)
+			    # self.move_from_terminal()
+			# else:
+
 			self.checker_rate.sleep()
 
 

beamng_teleop_keyboard/nodes/teleop_key

@@ -5,8 +5,6 @@
 
 import rospy
 from geometry_msgs.msg import Twist
-from std_msgs.msg import String
-
 import sys, select, os
 if os.name == 'nt':
   import msvcrt
@@ -105,7 +103,6 @@ if __name__=="__main__":
 
     rospy.init_node('teleop')
     pub = rospy.Publisher('cmd_vel', Twist, queue_size=10)
-    brakepub = rospy.Publisher('brake', String, queue_size=10)
     # BNG_pub =   rospy.Publisher('control', bng_msgs.VehicleControl ,queue_size=10)
     # BNG_pub =   rospy.Publisher('control', VehicleControl ,queue_size=10)
     # BNG_pub =   rospy.Publisher('control', BNG_msgs,queue_size=2)
@@ -117,7 +114,6 @@ if __name__=="__main__":
     target_angular_vel  = 0.0
     control_linear_vel  = 0.0
     control_angular_vel = 0.0
-    brake_state= "False"
 
     try:
         print(msg)
@@ -127,29 +123,24 @@ if __name__=="__main__":
                 target_linear_vel = checkLinearLimitVelocity(target_linear_vel + LIN_VEL_STEP_SIZE)
                 status = status + 1
                 print(vels(target_linear_vel,target_angular_vel))
-                brake_state= "False"
             elif key == 'x' :
                 target_linear_vel = checkLinearLimitVelocity(target_linear_vel - LIN_VEL_STEP_SIZE)
                 status = status + 1
                 print(vels(target_linear_vel,target_angular_vel))
-                brake_state= "False"
             elif key == 'd' :
                 target_angular_vel = checkAngularLimitVelocity(target_angular_vel + ANG_VEL_STEP_SIZE)
                 status = status + 1
                 print(vels(target_linear_vel,target_angular_vel))
-                brake_state= "False"
             elif key == 'a' :
                 target_angular_vel = checkAngularLimitVelocity(target_angular_vel - ANG_VEL_STEP_SIZE)
                 status = status + 1
                 print(vels(target_linear_vel,target_angular_vel))
-                brake_state= "False"
             elif key == ' ' or key == 's' :
                 target_linear_vel   = 0.0
                 control_linear_vel  = 0.0
                 target_angular_vel  = 0.0
                 control_angular_vel = 0.0
                 print(vels(target_linear_vel, target_angular_vel))
-                brake_state= "True"
             else:
                 if (key == '\x03'):
                     break
@@ -167,7 +158,6 @@ if __name__=="__main__":
             twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = control_angular_vel
 
             pub.publish(twist)
-            brakepub.publish(brake_state)
 
     except:
         print(e)