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carla-simulator / ros-bridge

ROS bridge for CARLA Simulator
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Carla crashes when trying to spawn some objects in leaderboard2.0 on Town12 #646

Open paulerikf opened 1 year ago

paulerikf commented 1 year ago

I've been running into some weird issues spawning certain actors in Town12 using the leaderboard2.0 carla version and ros bridge (ubuntu-20.04, ROS2 Humble).

Haven't quite been able to figure out the pattern, or even if the problem resides in the ros-bridge or the python-api, but I've been most able to reproduce the issue using the ros-bridge.

Short version: In Town12, I'm unable to attach sensors to an ego_vehicle spawned with the id "ego_vehicle", but id "hero"/"hero2" etc. work fine. In Town12, I'm unable to spawn a global sensor (i.e. a sensor not attached to any vehicle)

To reproduce, run carla_ros_bridge: ros2 launch carla_ros_bridge carla_ros_bridge.launch.py timeout:=30.0 town=Town12

Then try spawning objects:

"ego_vehicle" issue

Works in all towns including Town12

ros2 service call /carla/spawn_object carla_msgs/srv/SpawnObject "{type: vehicle.lincloln.mkz_2020, id: hero,  random_pose: True}"
ros2 service call /carla/spawn_object carla_msgs/srv/SpawnObject "{type: sensor.camera.rgb, id: rgb_front, attach_to: 3695, transform: {position: {z: 2}}}"

Crashes Carla when run in Town12, but fine in any other town

ros2 service call /carla/spawn_object carla_msgs/srv/SpawnObject "{type: vehicle.lincloln.mkz_2020, id: ego_vehicle, random_pose: True}"
ros2 service call /carla/spawn_object carla_msgs/srv/SpawnObject "{type: sensor.camera.rgb, id: rgb_front, attach_to: 3695, transform: {position: {z: 2}}}"

Global sensor issue

Crashes Carla in Town12, works fine in any other town

ros2 service call /carla/spawn_object carla_msgs/srv/SpawnObject "{type: sensor.camera.rgb, id: rgb_global, transform: {position: {z: 2}}}"