setup agent
(self, path_to_conf_file)
| 63 | global_plan_published = None |
| 64 | |
| 65 | def setup(self, path_to_conf_file): |
| 66 | """ |
| 67 | setup agent |
| 68 | """ |
| 69 | self.track = Track.MAP |
| 70 | self.stack_thread = None |
| 71 | |
| 72 | # get start_script from environment |
| 73 | team_code_path = os.environ['TEAM_CODE_ROOT'] |
| 74 | if not team_code_path or not os.path.exists(team_code_path): |
| 75 | raise IOError("Path '{}' defined by TEAM_CODE_ROOT invalid".format(team_code_path)) |
| 76 | start_script = "{}/start.sh".format(team_code_path) |
| 77 | if not os.path.exists(start_script): |
| 78 | raise IOError("File '{}' defined by TEAM_CODE_ROOT invalid".format(start_script)) |
| 79 | |
| 80 | # set use_sim_time via commandline before init-node |
| 81 | process = subprocess.Popen( |
| 82 | "rosparam set use_sim_time true", shell=True, stderr=subprocess.STDOUT, stdout=subprocess.PIPE) |
| 83 | process.wait() |
| 84 | if process.returncode: |
| 85 | raise RuntimeError("Could not set use_sim_time") |
| 86 | |
| 87 | # initialize ros node |
| 88 | rospy.init_node('ros_agent', anonymous=True) |
| 89 | |
| 90 | # publish first clock value '0' |
| 91 | self.clock_publisher = rospy.Publisher('clock', Clock, queue_size=10, latch=True) |
| 92 | self.clock_publisher.publish(Clock(rospy.Time.from_sec(0))) |
| 93 | |
| 94 | # execute script that starts the ad stack (remains running) |
| 95 | rospy.loginfo("Executing stack...") |
| 96 | self.stack_process = subprocess.Popen(start_script, shell=True, preexec_fn=os.setpgrp) |
| 97 | |
| 98 | self.vehicle_control_event = threading.Event() |
| 99 | self.timestamp = None |
| 100 | self.speed = 0 |
| 101 | self.global_plan_published = False |
| 102 | |
| 103 | self.vehicle_info_publisher = None |
| 104 | self.vehicle_status_publisher = None |
| 105 | self.odometry_publisher = None |
| 106 | self.world_info_publisher = None |
| 107 | self.map_file_publisher = None |
| 108 | self.current_map_name = None |
| 109 | self.tf_broadcaster = None |
| 110 | self.step_mode_possible = False |
| 111 | |
| 112 | self.vehicle_control_subscriber = rospy.Subscriber( |
| 113 | '/carla/ego_vehicle/vehicle_control_cmd', CarlaEgoVehicleControl, self.on_vehicle_control) |
| 114 | |
| 115 | self.current_control = carla.VehicleControl() |
| 116 | |
| 117 | self.waypoint_publisher = rospy.Publisher( |
| 118 | '/carla/ego_vehicle/waypoints', Path, queue_size=1, latch=True) |
| 119 | |
| 120 | self.publisher_map = {} |
| 121 | self.id_to_sensor_type_map = {} |
| 122 | self.id_to_camera_info_map = {} |
no test coverage detected