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hatem-darweesh / op_bridge

OpenPlanner ROS based bridge for CARLA Simulator and Scenario Runner
MIT License
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Question about lidar topic #2

Closed youxiho1 closed 2 years ago

youxiho1 commented 2 years ago

Hi, I'm also working on the ros2 bridge connecting autoware.universe and carla 0.9.13 recently (as you can see from my repos).

By now, I'm stuck on the lidar topic reforwarding. It seems that if I don't deal with lidar topic perfectly, autoware's localization module also doesn't work (since the ndt_scan_matcher needs the lidar sensor output).

I find that you are publishing carla's lidar info to the topic /carla_pointcloud in your latest commit. But I didn't find a relevant remap in your op_bridge and op_agent repo. As far as I know, the lidar info needs to be published to /sensing/lidar/top/pointcloud_raw_ex. Then where did you do the remmaping (from /carla_pointcloud to /sensing/lidar/top/pointcloud_raw_ex )? Or am I missing something important?

I'm glad to hear from you. Thx

hatem-darweesh commented 2 years ago

@youxiho1 I created a pointcloud interface node to the autoware.universe. It receives from the bridge and transform the cloud and publish the universe required topics.

please use this repository. (openplanner) branch. https://github.com/ZATiTech/autoware.universe.openplanner/tree/open-planner and check the video tutorials https://youtu.be/EFH-vVxn180 https://youtu.be/dxwwNacez7o