Closed badaolaziang closed 1 year ago
Hi, it looks like the client cannot extract actors from simulator. You may try to comment out the filter in line 51 to see if there is any actor.
Thanks for the reply. You are right that I found out that when I roslaunch planning_core carla_setup.launch, I get
Exception in thread Thread-7: Traceback (most recent call last): File "/home/zza/miniconda3/envs/carla_py37/lib/python3.7/threading.py", line 926, in _bootstrap_inner self.run() File "/home/zza/miniconda3/envs/carla_py37/lib/python3.7/threading.py", line 870, in run self._target(*self._args, **self._kwargs) File "/home/zza/catkin_gpir/src/gpir/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/bridge.py", line 271, in _synchronous_mode_update self._update(frame, world_snapshot.timestamp.elapsed_seconds) File "/home/zza/catkin_gpir/src/gpir/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/bridge.py", line 312, in _update self.actor_factory.update_actor_states(frame_id, timestamp) File "/home/zza/catkin_gpir/src/gpir/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/actor_factory.py", line 143, in update_actor_states self.actors[actor_id].update(frame_id, timestamp) File "/home/zza/catkin_gpir/src/gpir/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/sensor.py", line 253, in update self._update_synchronous_sensor(frame, timestamp) File "/home/zza/catkin_gpir/src/gpir/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/sensor.py", line 234, in _update_synchronous_sensor self.sensor_data_updated(carla_sensor_data) File "/home/zza/catkin_gpir/src/gpir/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/camera.py", line 121, in sensor_data_updated img_msg = self.get_ros_image(carla_camera_data) File "/home/zza/catkin_gpir/src/gpir/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/camera.py", line 163, in get_ros_image img_msg = Camera.cv_bridge.cv2_to_imgmsg(image_data_array, encoding=encoding) File "/opt/ros/noetic/lib/python3/dist-packages/cv_bridge/core.py", line 266, in cv2_to_imgmsg if self.cvtype_to_name[self.encoding_to_cvtype2(encoding)] != cv_type: File "/opt/ros/noetic/lib/python3/dist-packages/cv_bridge/core.py", line 91, in encoding_to_cvtype2 from cv_bridge.boost.cv_bridge_boost import getCvType ImportError: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined symbol: ffi_type_pointer, version LIBFFI_BASE_7.0
[INFO] [1669715562.487306, 1.901501]: Object (type='sensor.other.lane_invasion', id='lane_invasion') spawned successfully as 247. [INFO] [1669715562.489062, 1.901501]: Object (type='sensor.pseudo.tf', id='tf') spawned successfully as 10005. [INFO] [1669715562.490352, 1.901501]: Object (type='sensor.pseudo.odom', id='odometry') spawned successfully as 10006. [INFO] [1669715562.490864, 1.901501]: All objects spawned.
So it seems that I didnot make the carla_ros_bridge right. I will try to figure it out. Thanks again.
Hi, Thank a lot for open sourcing this great work! When attempting to apply this work, I encounter some difficulty and hope to get some suggestions.
When I try roslaunch planning_core planning.launch, I get the following:
And when I try roslaunch planning_core keyboard.launch, I get the following:
I am tring to solve the encountered problem, and I may wonder if there is something I missed that leads to the situation, or someone have met the similar situation. Thanks again for the sharing of the excellent work.