Added CarlaEpisodeSettings.msg SetEpisodeSettings.srv

and use that one in CarlaStatus.idl for reporting

Author: Bernd Gassmann

CMakeLists.txt

@@ -14,6 +14,7 @@ set(SERVICE_FILES
     GetAvailableMaps.srv
     GetBlueprints.srv
     LoadMap.srv
+    SetEpisodeSettings.srv
     SpawnObject.srv
     )
 
@@ -24,6 +25,7 @@ set(MSG_FILES
     CarlaBoundingBox.msg
     CarlaCollisionEvent.msg
     CarlaControl.msg
+    CarlaEpisodeSettings.msg
     CarlaVehicleControl.msg
     CarlaVehicleInfo.msg
     CarlaVehicleInfoWheel.msg

msg/CarlaEpisodeSettings.idl

@@ -0,0 +1,47 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from carla_msgs/msg/CarlaEpisodeSettings.msg
+// generated code does not contain a copyright notice
+#pragma once
+
+module carla_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      "Copyright (c) 2024 Intel Corporation." "\n"
+      "" "\n"
+      "This work is licensed under the terms of the MIT license." "\n"
+      "For a copy, see <https://opensource.org/licenses/MIT>.")
+    struct CarlaEpisodeSettings {
+      @default (value=FALSE)
+      boolean synchronous_mode;
+
+      @default (value=FALSE)
+      boolean no_rendering_mode;
+
+      float fixed_delta_seconds;
+
+      @default (value=TRUE)
+      boolean substepping;
+
+      @default (value=0.01)
+      float max_substep_delta_time;
+
+      @default (value=10)
+      int32 max_substeps;
+
+      @default (value=0.0)
+      float max_culling_distance;
+
+      @default (value=FALSE)
+      boolean deterministic_ragdolls;
+
+      @default (value=3000.0)
+      float tile_stream_distance;
+
+      @default (value=2000.0)
+      float actor_active_distance;
+
+      @default (value=TRUE)
+      boolean spectator_as_ego;
+    };
+  };
+};

msg/CarlaEpisodeSettings.msg

@@ -0,0 +1,18 @@
+#
+# Copyright (c) 2024 Intel Corporation.
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+#
+
+bool synchronous_mode false
+bool no_rendering_mode false
+float32 fixed_delta_seconds
+bool substepping true
+float32 max_substep_delta_time 0.01
+int32 max_substeps 10
+float32 max_culling_distance 0.0
+bool deterministic_ragdolls false
+float32 tile_stream_distance 3000.0
+float32 actor_active_distance 2000.0
+bool spectator_as_ego true

msg/CarlaStatus.idl

@@ -3,6 +3,7 @@
 // generated code does not contain a copyright notice
 #pragma once
 
+#include "carla_msgs/msg/CarlaEpisodeSettings.idl"
 #include "std_msgs/msg/Header.idl"
 
 module carla_msgs {
@@ -19,17 +20,7 @@ module carla_msgs {
         "frame number")
       uint64 frame;
 
-      @verbatim (language="comment", text=
-        "duration of one frame")
-      float fixed_delta_seconds;
-
-      @verbatim (language="comment", text=
-        "carla is in synchronous mode")
-      boolean synchronous_mode;
-
-      @verbatim (language="comment", text=
-        "true: running, false: paused")
-      boolean synchronous_mode_running;
+      carla_msgs::msg::CarlaEpisodeSettings episode_settings;
     };
   };
 };

msg/CarlaStatus.msg

@@ -8,7 +8,5 @@
 std_msgs/Header header
 
 uint64 frame                  # frame number
+carla_msgs/CarlaEpisodeSettings episode_settings
 
-float32 fixed_delta_seconds   # duration of one frame
-bool synchronous_mode         # carla is in synchronous mode
-bool synchronous_mode_running # true: running, false: paused

srv/SetEpisodeSettings.idl

@@ -0,0 +1,21 @@
+// generated from rosidl_adapter/resource/srv.idl.em
+// with input from carla_msgs/srv/SetEpisodeSettings.srv
+// generated code does not contain a copyright notice
+
+#include "carla_msgs/msg/CarlaEpisodeSettings.idl"
+
+module carla_msgs {
+  module srv {
+    @verbatim (language="comment", text=
+      "Copyright (c) 2020 Intel Corporation." "\n"
+      "" "\n"
+      "This work is licensed under the terms of the MIT license." "\n"
+      "For a copy, see <https://opensource.org/licenses/MIT>.")
+    struct SetEpisodeSettings_Request {
+      carla_msgs::msg::CarlaEpisodeSettings episode_settings;
+    };
+    struct SetEpisodeSettings_Response {
+      boolean success;
+    };
+  };
+};

srv/SetEpisodeSettings.srv

@@ -0,0 +1,10 @@
+#
+# Copyright (c) 2020 Intel Corporation.
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+#
+
+carla_msgs/CarlaEpisodeSettings episode_settings
+---
+bool success