feat: Expand dev launch with vehicle-spawn + fixed spectator (#178)

una-auxme · Jan 30, 2024 · 29a2530 · 29a2530
1 parent 28e7a06
commit 29a2530
Show file tree

Hide file tree

Showing 8 changed files with 453 additions and 6 deletions.
diff --git a/build/CustomCarlaSettings.ini b/build/CustomCarlaSettings.ini
@@ -0,0 +1 @@
+bThrottleCPUWhenNotForeground=False
diff --git a/build/docker-compose.yml b/build/docker-compose.yml
@@ -21,9 +21,7 @@ services:
 
       # based on https://github.com/ll7/paf21-1/blob/master/scenarios/docker-carla-sim-compose.yml
   carla-simulator:
-    command: /bin/bash CarlaUE4.sh -quality-level=Epic -world-port=2000 -resx=800 -resy=600 -nosound
-    # Use this image version to enable instance segmentation cameras: (it does not match the leaderboard version)
-    # image: carlasim/carla:0.9.14
+    command: /bin/bash CarlaUE4.sh -quality-level=Epic -world-port=2000 -resx=800 -resy=600 -nosound -carla-settings="/home/carla/CarlaUE4/Config/CustomCarlaSettings.ini"
     image: ghcr.io/una-auxme/paf23:leaderboard-2.0
     init: true
     deploy:
@@ -34,10 +32,13 @@ services:
       - 2000
       - 2001
       - 2002
+    environment:
+      - XDG_RUNTIME_DIR=/tmp/runtime-carla
     networks:
       - carla
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
+      - ./CustomCarlaSettings.ini:/home/carla/CarlaUE4/Config/CustomCarlaSettings.ini
 
   roscore:
     image: ros:noetic
@@ -70,6 +71,7 @@ services:
       - ROS_MASTER_URI=http://roscore:11311
       - CARLA_SIM_HOST=carla-simulator
       - ROS_HOSTNAME=agent
+      - XDG_RUNTIME_DIR=/tmp/runtime-carla
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
       # if you change the volume here also change the copy command

diff --git a/code/agent/launch/agent.launch b/code/agent/launch/agent.launch
@@ -1,6 +1,6 @@
 <launch>
     <arg name="role_name" default="hero" />
-    <arg name="control_loop_rate" default="0.05" />
+    <arg name="control_loop_rate" default="0.025" />
 
     <!-- perception -->
     <include file="$(find perception)/launch/perception.launch">

diff --git a/code/agent/launch/dev.launch b/code/agent/launch/dev.launch
@@ -15,7 +15,7 @@
 
   <!-- Synchronous mode-->
   <arg name='synchronous_mode_wait_for_vehicle_control_command' default='False'/>
-  <arg name='fixed_delta_seconds' default='0.05'/>
+  <arg name='fixed_delta_seconds' default='0.025'/>
 
 
   <include file="$(find carla_ros_bridge)/launch/carla_ros_bridge.launch">
@@ -32,7 +32,11 @@
     <arg name="objects_definition_file" value='$(find agent)/config/dev_objects.json'/>
   </include>
 
-  <include file="$(find agent)/launch/agent.launch">
+  <include file="$(find agent)/launch/agent_manual.launch">
+    <arg name='role_name' value='$(arg role_name)'/>
+  </include>
+
+  <include file="$(find test-route)/launch/test-route.launch">
     <arg name='role_name' value='$(arg role_name)'/>
   </include>
 

diff --git a/code/test-route/CMakeLists.txt b/code/test-route/CMakeLists.txt
@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(test-route)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## 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)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## 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()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## 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 exec_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 exec_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 ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_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
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## 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 test-route
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/test-route.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/test-route_node.cpp)
+
+## 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(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_test-route.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/code/test-route/launch/test-route.launch b/code/test-route/launch/test-route.launch
@@ -0,0 +1,14 @@
+<launch>
+  <arg name="role_name" default="hero" />
+  <arg name="control_loop_rate" default="0.02" />
+
+  <node pkg="test-route" type="test_route.py" name="test_route" output="screen">
+    <param name="control_loop_rate" value="$(arg control_loop_rate)" />
+    <param name="role_name" value="$(arg role_name)" />
+    <param name="follow_hero" value="True" />
+    <param name="vehicle_number" value="50" />
+    <param name="only_cars" value="False" />
+    <param name="disable_vehicle_lane_change" value="False" />
+  </node>
+
+</launch>
diff --git a/code/test-route/package.xml b/code/test-route/package.xml
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>test-route</name>
+  <version>0.0.0</version>
+  <description>The test-route package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">carla</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/test-route</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>