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Commit 16b80c8

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author
Bernd Gassmann
committed
Add LoadMap.srv GetAvailableMaps.srv
made GetBlueprints.srv to return the complete blueprint information use CarlaActorBlueprint type in SpawnObject
1 parent be249fe commit 16b80c8

11 files changed

Lines changed: 166 additions & 19 deletions

‎CMakeLists.txt‎

Lines changed: 16 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -9,20 +9,26 @@ if (NOT ROS_VERSION)
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return()
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endif()
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12-
set(SERVICE_FILES SpawnObject.srv DestroyObject.srv GetBlueprints.srv)
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set(SERVICE_FILES
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DestroyObject.srv
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GetAvailableMaps.srv
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GetBlueprints.srv
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LoadMap.srv
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SpawnObject.srv
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)
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set(MSG_FILES
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CarlaActorBlueprint.msg
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CarlaActorInfo.msg
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CarlaActorList.msg
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CarlaBoundingBox.msg
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CarlaCollisionEvent.msg
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CarlaControl.msg
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CarlaVehicleControl.msg
17-
CarlaVehicleInfoWheel.msg
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CarlaVehicleInfo.msg
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CarlaVehicleInfoWheel.msg
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CarlaVehicleStatus.msg
20-
CarlaCollisionEvent.msg
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CarlaLaneInvasionEvent.msg
22-
CarlaWorldInfo.msg
23-
CarlaActorInfo.msg
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CarlaActorList.msg
25-
CarlaControl.msg
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CarlaStatus.msg
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CarlaTrafficLightInfo.msg
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CarlaTrafficLightInfoList.msg
@@ -33,7 +39,9 @@ set(MSG_FILES
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CarlaV2XCustomDataList.msg
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CarlaV2XCustomMessage.msg
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CarlaWalkerControl.msg
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CarlaWeatherParameters.msg)
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CarlaWeatherParameters.msg
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CarlaWorldInfo.msg
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)
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if(${ROS_VERSION} EQUAL 1)
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cmake_minimum_required(VERSION 2.8.3)

‎msg/CarlaActorBlueprint.idl‎

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@@ -0,0 +1,23 @@
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// generated from rosidl_adapter/resource/msg.idl.em
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// with input from carla_msgs/msg/CarlaActorBlueprint.msg
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// generated code does not contain a copyright notice
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#pragma once
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6+
#include "diagnostic_msgs/msg/KeyValue.idl"
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8+
module carla_msgs {
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module msg {
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@verbatim (language="comment", text=
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"Copyright (c) 2024 Intel Corporation." "\n"
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"" "\n"
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"This work is licensed under the terms of the MIT license." "\n"
14+
"For a copy, see <https://opensource.org/licenses/MIT>.")
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struct CarlaActorBlueprint {
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string id;
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18+
sequence<string> tags;
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sequence<diagnostic_msgs::msg::KeyValue> attributes;
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};
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};
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};

‎msg/CarlaActorBlueprint.msg‎

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@@ -0,0 +1,10 @@
1+
#
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# Copyright (c) 2024 Intel Corporation.
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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#
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8+
string id
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string[] tags
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diagnostic_msgs/KeyValue[] attributes

‎srv/GetAvailableMaps.idl‎

Lines changed: 21 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,21 @@
1+
// generated from rosidl_adapter/resource/srv.idl.em
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// with input from carla_msgs/srv/GetAvailableMaps.srv
3+
// generated code does not contain a copyright notice
4+
#pragma once
5+
6+
7+
module carla_msgs {
8+
module srv {
9+
@verbatim (language="comment", text=
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"Copyright (c) 2024 Intel Corporation." "\n"
11+
"" "\n"
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"This work is licensed under the terms of the MIT license." "\n"
13+
"For a copy, see <https://opensource.org/licenses/MIT>.")
14+
struct GetAvailableMaps_Request {
15+
uint8 structure_needs_at_least_one_member;
16+
};
17+
struct GetAvailableMaps_Response {
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sequence<string> maps;
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};
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};
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};

‎srv/GetAvailableMaps.srv‎

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@@ -0,0 +1,8 @@
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#
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# Copyright (c) 2024 Intel Corporation.
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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#
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---
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string[] maps

‎srv/GetBlueprints.idl‎

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Original file line numberDiff line numberDiff line change
@@ -4,6 +4,8 @@
44
#pragma once
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66

7+
#include "carla_msgs/msg/CarlaActorBlueprint.idl"
8+
79
module carla_msgs {
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module srv {
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@verbatim (language="comment", text=
@@ -15,7 +17,7 @@ module carla_msgs {
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string filter;
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};
1719
struct GetBlueprints_Response {
18-
sequence<string> blueprints;
20+
sequence<carla_msgs::msg::CarlaActorBlueprint> blueprints;
1921
};
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};
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};

‎srv/GetBlueprints.srv‎

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Original file line numberDiff line numberDiff line change
@@ -6,4 +6,4 @@
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#
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string filter
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---
9-
string[] blueprints
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carla_msgs/CarlaActorBlueprint[] blueprints

‎srv/LoadMap.idl‎

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// generated from rosidl_adapter/resource/srv.idl.em
2+
// with input from carla_msgs/srv/LoadMap.srv
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// generated code does not contain a copyright notice
4+
#pragma once
5+
6+
module carla_msgs {
7+
module srv {
8+
module LoadMap_Request_Constants {
9+
@verbatim (language="comment", text=
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"These are the flags for the map layers to be loaded")
11+
const uint16 MAPLAYERFLAG_NONE = 0;
12+
const uint16 MAPLAYERFLAG_BUILDINGS = 1;
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const uint16 MAPLAYERFLAG_DECALS = 2;
14+
const uint16 MAPLAYERFLAG_FOLIAGE = 4;
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const uint16 MAPLAYERFLAG_GROUND = 8;
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const uint16 MAPLAYERFLAG_PARKEDVEHICLES = 16;
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const uint16 MAPLAYERFLAG_PARTICLES = 32;
18+
const uint16 MAPLAYERFLAG_PROPS = 64;
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const uint16 MAPLAYERFLAG_STREETLIGHTS = 128;
20+
const uint16 MAPLAYERFLAG_WALLS = 256;
21+
const uint16 MAPLAYERFLAG_ALL = 65535;
22+
};
23+
@verbatim (language="comment", text=
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"Copyright (c) 2020 Intel Corporation." "\n"
25+
"" "\n"
26+
"This work is licensed under the terms of the MIT license." "\n"
27+
"For a copy, see <https://opensource.org/licenses/MIT>.")
28+
struct LoadMap_Request {
29+
string mapname;
30+
31+
@verbatim (language="comment", text=
32+
"If the map was already loaded, per default nothing is done (resulting in a success=false response). By setting force_reload to \c True this behavior can be changed.")
33+
@default (value=FALSE)
34+
boolean force_reload;
35+
36+
@verbatim (language="comment", text=
37+
"Should the episode settings be reset to the default")
38+
@default (value=TRUE)
39+
boolean reset_episode_settings;
40+
41+
@verbatim (language="comment", text=
42+
"The map layers to be loaded, default is MAPLAYERFLAG_ALL")
43+
@default (value=65535)
44+
uint16 map_layers;
45+
};
46+
struct LoadMap_Response {
47+
boolean success;
48+
};
49+
};
50+
};

‎srv/LoadMap.srv‎

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@@ -0,0 +1,30 @@
1+
#
2+
# Copyright (c) 2020 Intel Corporation.
3+
#
4+
# This work is licensed under the terms of the MIT license.
5+
# For a copy, see <https://opensource.org/licenses/MIT>.
6+
#
7+
8+
# These are the flags for the map layers to be loaded
9+
uint16 MAPLAYERFLAG_NONE = 0
10+
uint16 MAPLAYERFLAG_BUILDINGS = 1
11+
uint16 MAPLAYERFLAG_DECALS = 2
12+
uint16 MAPLAYERFLAG_FOLIAGE = 4
13+
uint16 MAPLAYERFLAG_GROUND = 8
14+
uint16 MAPLAYERFLAG_PARKEDVEHICLES = 16
15+
uint16 MAPLAYERFLAG_PARTICLES = 32
16+
uint16 MAPLAYERFLAG_PROPS = 64
17+
uint16 MAPLAYERFLAG_STREETLIGHTS = 128
18+
uint16 MAPLAYERFLAG_WALLS = 256
19+
uint16 MAPLAYERFLAG_ALL = 65535
20+
21+
string mapname
22+
# If the map was already loaded, per default nothing is done (resulting in a success=false response). By setting force_reload to \c True this behavior can be changed.
23+
bool force_reload False
24+
# Should the episode settings be reset to the default
25+
bool reset_episode_settings True
26+
# The map layers to be loaded, default is MAPLAYERFLAG_ALL
27+
uint16 map_layers 65535
28+
29+
---
30+
bool success

‎srv/SpawnObject.idl‎

Lines changed: 3 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,8 @@
33
// generated code does not contain a copyright notice
44
#pragma once
55

6-
#include "diagnostic_msgs/msg/KeyValue.idl"
6+
7+
#include "carla_msgs/msg/CarlaActorBlueprint.idl"
78
#include "geometry_msgs/msg/Pose.idl"
89

910
module carla_msgs {
@@ -14,11 +15,7 @@ module carla_msgs {
1415
"This work is licensed under the terms of the MIT license." "\n"
1516
"For a copy, see <https://opensource.org/licenses/MIT>.")
1617
struct SpawnObject_Request {
17-
string type;
18-
19-
string id;
20-
21-
sequence<diagnostic_msgs::msg::KeyValue> attributes;
18+
carla_msgs::msg::CarlaActorBlueprint blueprint;
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geometry_msgs::msg::Pose transform;
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