[0.9.13] `object_sensor` can only publish 2 object types (`car` and `pedestrain`)

[heweweh]

Problem

I'm generating training data from carla-simulator and collect samples via carla-ros-bridge. I found that carla-ros-bridge is only giving car and pedestrian, without bike, motorcycle, truck, etc. I noticed that in carla-ros-bridge/src/carla_ros_bridge/vehicle.py:42 Vehicle.__init__()

        self.classification = Object.CLASSIFICATION_CAR
        if 'object_type' in carla_actor.attributes:
            if carla_actor.attributes['object_type'] == 'car':
                self.classification = Object.CLASSIFICATION_CAR
            elif carla_actor.attributes['object_type'] == 'bike':
                self.classification = Object.CLASSIFICATION_BIKE
            elif carla_actor.attributes['object_type'] == 'motorcycle':
                self.classification = Object.CLASSIFICATION_MOTORCYCLE
            elif carla_actor.attributes['object_type'] == 'truck':
                self.classification = Object.CLASSIFICATION_TRUCK
            elif carla_actor.attributes['object_type'] == 'other':
                self.classification = Object.CLASSIFICATION_OTHER_VEHICLE

ros-bridge propose to get object_type from actors to determinate the actual type of vehicle, but actually the carla_actor.attributes['object_type'] will be always empty str '' in my trace.

Reproduce:

terminal 1 $ carla-simulator/CarlaUE4.sh -benchmark -fps=20
terminal 2 $ ros2 launch carla_ros_bridge carla_ros_bridge.launch.py fixed_delta_seconds:='0.1'
terminal 3 $ carla-simulator/PythonAPI/examples/generate_traffic.py -n 50 -w 15

[berndgassmann]

Did you test the workaround from PR #641 ? At least that should work for many of the vehicles that come with CARLA 0.9.13.

[heweweh]

Did you test the workaround from PR https://github.com/carla-simulator/ros-bridge/pull/641 thanks, I did similar patch locally, I think your patch will work fine. the type_id we refered is from the blueprint library I think, you patch will do well except there are some new blueprint added to carla. but I think the root cause will still be the 'object_type' property which is readonly and from blueprint.