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carla-simulator / leaderboard

CARLA Autonomous Driving leaderboard
MIT License
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Update frame_rate from 20 to 10 fps #167

Closed ll7 closed 5 months ago

ll7 commented 6 months ago

fix for lidar frame rate issue with ros bridge

This change is Reviewable

ll7 commented 6 months ago

https://github.com/una-auxme/paf23/issues/214 documents, that the carla-ros-bridge requires the same frequency in the LIDAR rotation and in the world frame rate. This PR suggests using 10 FPS. However, any number can be used, but it must be the same.

joel-mb commented 5 months ago

Thanks for the PR @ll7 Right now, this is the expected behavior. The CARLA world is set to work at 20FPS and the LIDAR rotation frequency to 10FPS.

I strongly advise against changing the CARLA world FPS. Instead I would recommend changing the rotation_frequency of the LIDAR from 10 to 20 (https://github.com/carla-simulator/leaderboard/blob/leaderboard-2.0/leaderboard/autoagents/agent_wrapper.py#L170).

Closing the PR because the current behavior is the expected one.

ll7 commented 5 months ago

Thank you for your explanation @joel-mb

Your advised change has to be done in this repository because the rotation_frequency is a fixed value that shouldn't be altered by the users. Would you recommend that I propose this change instead?

Alternatively, we could handle lidar messages that include only half of the rotation. Which approach would you prefer?