Adapt to new naming

joel-mb · May 16, 2024 · c8903cc · c8903cc
1 parent 776e0e5
commit c8903cc
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Showing 2 changed files with 25 additions and 25 deletions.
diff --git a/ros2_demo/ros2_demo/ros2_demo.py b/ros2_demo/ros2_demo/ros2_demo.py
@@ -78,8 +78,8 @@ def _setup_sensors(self, vehicle, sensors_config):
             self.get_logger().info("Spawning sensor: {}".format(sensor))
 
             bp = self._blueprint_library.filter(sensor.get("type"))[0]
-            bp.set_attribute("ros_name", sensor.get("id")) 
-            bp.set_attribute("role_name", sensor.get("id")) 
+#            bp.set_attribute("ros_name", sensor.get("id"))
+#            bp.set_attribute("role_name", sensor.get("id"))
             for key, value in sensor.get("attributes", {}).items():
                 bp.set_attribute(str(key), str(value))
 
@@ -104,7 +104,7 @@ def _setup_sensors(self, vehicle, sensors_config):
                 )
             )
 
-            sensors[-1].enable_for_ros()
+#            sensors[-1].enable_for_ros()
 
         return sensors
 
@@ -169,7 +169,7 @@ def main(args=None):
 
             # Check ROS time
             if abs(node.get_clock().now().nanoseconds * 1e-9 - snapshot.timestamp.elapsed_seconds) > 0.0001:
-                node.get_logger().warn("The clock is not synchronized")
+                node.get_logger().warn("The clock is not synchronized; ros-time ({}) python-time ({}) ".format(node.get_clock().now().nanoseconds, snapshot.timestamp.elapsed_seconds))
 
             total_frames += 1
 

diff --git a/ros2_demo/rviz/ros2_demo.rviz b/ros2_demo/rviz/ros2_demo.rviz
@@ -122,8 +122,8 @@ Visualization Manager:
             Depth: 5
             Durability Policy: Volatile
             History Policy: Keep Last
-            Reliability Policy: Reliable
-            Value: /carla/hero/rgb/image
+            Reliability Policy: Best Effort
+            Value: /carla/vehicles/hero/sensors/rgb/front/image
           Value: true
         - Class: rviz_default_plugins/Image
           Enabled: true
@@ -136,8 +136,8 @@ Visualization Manager:
             Depth: 5
             Durability Policy: Volatile
             History Policy: Keep Last
-            Reliability Policy: Reliable
-            Value: /carla/hero/depth/image
+            Reliability Policy: Best Effort
+            Value: /carla/vehicles/hero/sensors/depth/front/image
           Value: true
         - Class: rviz_default_plugins/Image
           Enabled: true
@@ -150,8 +150,8 @@ Visualization Manager:
             Depth: 5
             Durability Policy: Volatile
             History Policy: Keep Last
-            Reliability Policy: Reliable
-            Value: /carla/hero/dvs/image
+            Reliability Policy: Best Effort
+            Value: /carla/vehicles/hero/sensors/dvs/front/image
           Value: true
         - Class: rviz_default_plugins/Image
           Enabled: true
@@ -164,8 +164,8 @@ Visualization Manager:
             Depth: 5
             Durability Policy: Volatile
             History Policy: Keep Last
-            Reliability Policy: Reliable
-            Value: /carla/hero/instance_segmentation/image
+            Reliability Policy: Best Effort
+            Value: /carla/vehicles/hero/sensors/instance_segmentation/front/image
           Value: true
         - Class: rviz_default_plugins/Image
           Enabled: true
@@ -178,8 +178,8 @@ Visualization Manager:
             Depth: 5
             Durability Policy: Volatile
             History Policy: Keep Last
-            Reliability Policy: Reliable
-            Value: /carla/hero/semantic_segmentation/cityscapes/image
+            Reliability Policy: Best Effort
+            Value: /carla/vehicles/hero/sensors/semantic_segmentation/front/image
           Value: true
         - Class: rviz_default_plugins/Image
           Enabled: true
@@ -192,8 +192,8 @@ Visualization Manager:
             Depth: 5
             Durability Policy: Volatile
             History Policy: Keep Last
-            Reliability Policy: Reliable
-            Value: /carla/hero/optical_flow/image
+            Reliability Policy: Best Effort
+            Value: /carla/vehicles/hero/sensors/optical_flow/front/image
           Value: true
       Enabled: true
       Name: Cameras
@@ -227,8 +227,8 @@ Visualization Manager:
             Depth: 5
             Durability Policy: Volatile
             History Policy: Keep Last
-            Reliability Policy: Reliable
-            Value: /carla/hero/lidar
+            Reliability Policy: Best Effort
+            Value: /carla/vehicles/hero/sensors/lidar/front
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
@@ -260,8 +260,8 @@ Visualization Manager:
             Depth: 5
             Durability Policy: Volatile
             History Policy: Keep Last
-            Reliability Policy: Reliable
-            Value: /carla/hero/semantic_lidar
+            Reliability Policy: Best Effort
+            Value: /carla/vehicles/hero/sensors/semantic_lidar/front
           Use Fixed Frame: true
           Use rainbow: true
           Value: false
@@ -297,8 +297,8 @@ Visualization Manager:
             Depth: 5
             Durability Policy: Volatile
             History Policy: Keep Last
-            Reliability Policy: Reliable
-            Value: /carla/hero/radar_front
+            Reliability Policy: Best Effort
+            Value: /carla/vehicles/hero/sensors/radar/default
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
@@ -323,22 +323,22 @@ Visualization Manager:
         Depth: 5
         Durability Policy: Volatile
         History Policy: Keep Last
-        Reliability Policy: Reliable
+        Reliability Policy: Best Effort
         Value: /initialpose
     - Class: rviz_default_plugins/SetGoal
       Topic:
         Depth: 5
         Durability Policy: Volatile
         History Policy: Keep Last
-        Reliability Policy: Reliable
+        Reliability Policy: Best Effort
         Value: /goal_pose
     - Class: rviz_default_plugins/PublishPoint
       Single click: true
       Topic:
         Depth: 5
         Durability Policy: Volatile
         History Policy: Keep Last
-        Reliability Policy: Reliable
+        Reliability Policy: Best Effort
         Value: /clicked_point
   Transformation:
     Current: