Comments (9)
@danil-tolkachev Thank you for your solution. It seems that the result of visualization is correct.
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You just need to set Decay Time
to 0.
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@danil-tolkachev Thank you for your comment. A part of LiDAR points was drawn when I set Decay Time
to 0. Is this correct behavior as LiDAR simulation?
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It's another problem. Try changing fps of simulation
./CarlaUE4.sh -benchmark -fps=10
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Hi,
I am trying same above steps with 0.9.2 version(pre compiled)
I am able to run it.
But while running I get below errors
For python manual_control.py
Traceback (most recent call last):
File "manual_control.py", line 590, in <lambda>
self.sensor.listen(lambda image: CameraManager._parse_image(weak_self, image))
File "manual_control.py", line 630, in _parse_image
self._surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
File "/usr/lib/python2.7/dist-packages/pygame/surfarray.py", line 243, in make_surface
return numpysf.make_surface (array)
File "/usr/lib/python2.7/dist-packages/pygame/_numpysurfarray.py", line 368, in make_surface
blit_array (surface, array)
File "/usr/lib/python2.7/dist-packages/pygame/_numpysurfarray.py", line 437, in blit_array
surface.get_buffer ().write (data, 0)
IndexError: bytes to write exceed buffer size
And
For
roslaunch carla_ros_bridge client_with_rvizaunch.launch
[INFO] [1550728939.884117, 49.285821]: Reconfigure Request: speed (0.05, 0.0, 0.5),accel (0.02, 0.0, 0.05),
Traceback (most recent call last):
File "/home/wipro16/carla_bridge_0.9.2/src/ros-bridge-0.9.2/src/carla_ros_bridge/bridge.py", line 157, in _carla_time_tick
self.update()
File "/home/wipro16/carla_bridge_0.9.2/src/ros-bridge-0.9.2/src/carla_ros_bridge/parent.py", line 159, in update
actor.update()
File "/home/wipro16/carla_bridge_0.9.2/src/ros-bridge-0.9.2/src/carla_ros_bridge/ego_vehicle.py", line 209, in update
self.vehicle_control_cycle()
File "/home/wipro16/carla_bridge_0.9.2/src/ros-bridge-0.9.2/src/carla_ros_bridge/ego_vehicle.py", line 445, in vehicle_control_cycle
self.run_accel_control_loop()
File "/home/wipro16/carla_bridge_0.9.2/src/ros-bridge-0.9.2/src/carla_ros_bridge/ego_vehicle.py", line 562, in run_accel_control_loop
self.info.current.accel)
File "/home/wipro16/.local/lib/python2.7/site-packages/simple_pid/PID.py", line 91, in __call__
self._derivative = -self.Kd * d_input / dt
ZeroDivisionError: float division by zero
And I am not able to see any lidar information anywhere.
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@atinfinity
Hi,
I have a problem, please check this for me
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Hi @atinfinity @danil-tolkachev
Thanks both of you, I resolved all those issues.
and able to use bridge with compiled version of carla to get lidar data in ros
But my application is to create 3D map from lidar data in ros, here the data
I am getting is not good to generate because of it's rotation frequency and points per second
Blueprint attribute | Type | Default | Description
-- | -- | -- | --
channels | int | 32 | Number of lasers
range | float | 1000 | Maximum measurement distance in meters
points_per_second | int | 56000 | Points generated by all lasers per second
rotation_frequency | float | 10.0 | Lidar rotation frequency
upper_fov | float | 10.0 | Angle in degrees of the upper most laser
lower_fov | float | -30.0 | Angle in degrees of the lower most laser
sensor_tick | float | 0.0 | Seconds between sensor captures (ticks)
Above this information provided in carla simulator site,
Where I can modify these parameters in Compiled version and in ros bridge.
Below images are 3D map which i tried to build using ros lidar data
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Hi @atinfinity
@danil-tolkachev
Thanks for all
I found how to make better lidar data out
class CameraManager(object):
def __init__(self, parent_actor, hud):
self.sensor = None
self._surface = None
self._parent = parent_actor
self._hud = hud
self._recording = False
self._camera_transforms = [
carla.Transform(carla.Location(x=-5.5, z=2.8), carla.Rotation(pitch=-15)),
carla.Transform(carla.Location(x=1.6, z=1.7))]
self._transform_index = 1
self._sensors = [
['sensor.camera.rgb', cc.Raw, 'Camera RGB'],
['sensor.camera.depth', cc.Raw, 'Camera Depth (Raw)'],
['sensor.camera.depth', cc.Depth, 'Camera Depth (Gray Scale)'],
['sensor.camera.depth', cc.LogarithmicDepth, 'Camera Depth (Logarithmic Gray Scale)'],
['sensor.camera.semantic_segmentation', cc.Raw, 'Camera Semantic Segmentation (Raw)'],
['sensor.camera.semantic_segmentation', cc.CityScapesPalette, 'Camera Semantic Segmentation (CityScapes Palette)'],
['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)']]
world = self._parent.get_world()
bp_library = world.get_blueprint_library()
for item in self._sensors:
bp = bp_library.find(item[0])
if item[0].startswith('sensor.camera'):
bp.set_attribute('image_size_x', str(hud.dim[0]))
bp.set_attribute('image_size_y', str(hud.dim[1]))
elif item[0].startswith('sensor.lidar'):
bp.set_attribute('range', '5000')
bp.set_attribute('rotation_frequency', '40')
bp.set_attribute('channels', '32')
bp.set_attribute('points_per_second', '500000')
bp.set_attribute('upper_fov', '30')
bp.set_attribute('lower_fov', '-15')
bp.set_attribute('sensor_tick', '0.0')
item.append(bp)
self._index = None
Added attributes of lidar as points_per_second, channels and set to better rotation frequency,
I think @atinfinity needs to set more rotation frequency and should make Decay time as 0 in rviz.
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@gnykumar Thank you for your proposal! I'll try this proposal.
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