CARLA ROS bridge

client.py

carla_ros_bridge instance
initialized with client and params (from PythonClient API)
carla_ros_bridge.run()

transforms.py

• ros_transform_to_pose: convert Transform() message to Pose() message. doesn't change position and orientation
• carla_transform_to_ros_pose:
• carla_transform_to_ros_transform:

bridge.py

CarlaRosBridge()

• constructor: client, params

  • setup_carla_client()

  self.client = client
  param_sensors = all the sensors parameters
  carla_settings = all the carla parameters

  • tf_to_publish: array
  • msgs_to_publish: array
  • publishers: dictionary
  • cur_time: rospy.Time
  • carla_game_stamp
  • carla_platform_stamp
  • player_handler
  • non_players_handler
  • sensors: dictionary
    • key: name (from setting.yaml file)
    • value: sensor handler
  • process_msg: get all self.publishers dictionary
    • key: topic
    • value: rospy.publisher
    • and add msg to either tf_to_publish (msg) or msgs_to_publish (publisher and msg)
  • send_msgs()

  publish all the msgs in msgs_to_publish and tf_to_pudblish

  • run()
    • self.client.read_data() into measurements and sensor_data
    • compute self.cur_time
    • publish to clock
    • let player and nonplayer handlers to process msgs
    • let sensor handlers to process sensor msgs
    • send all the msgs
    • self.client.send_control(input_conbtroller.cur_control)

• markers.py

  AgentObjectHandler() general class

• constructor()

  • name
  • world_link
  • process_msg_fun
  • lookup_table_marker_id
• get_marker_id
• process_msg

PlayerAgentHandler()

• process_msg(data, cur_time)
  • process_msg_fun(self.name, marker(a marker in given pose))
  • process_msg_fun('tf', TransformStamped())

NonPlayerAgentHandler()

• process_msg(data, cur_time)

control.py

InputController()

• cur_control()
• set_control_cmd_callback()

CARLA Python Client

tranform.py

define Transform() class.

• self.matrix is a tranformation matrix
• set() pass in Translation, Rotation or Scale type and set transformation matrix.
• inverse() get inverse transformation matrix
• transform_points() transform points by the self.matrix
• also defined __mul__, and __str__

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