PR Details

Description

Add logic to CARLA Ambassador to use XMLRPC Client to dynamically create sensor and retrieve detections. More specifically: the CARLA Ambassador will now create a CARLA XML RPC Client on startup. Its configuration parameters (constructor arguments) will be loaded from the carla_config.json configuration file for the CARLA Ambassador. This is currently limited to carlaCDASimAdapterUrl which tells the XMLRPC client where the XMLRPC server is hosted. Next the CARLA Ambassador now listens for Detector Registration Interactions which are triggered by the Infrastructure Ambassador in response to infrastructure registration attempts that include sensors. When receiving a Detector Registration Interaction, the CARLA Ambassador will tell the CARLA XML RPC Client to make a create_sensor request for each detector registration interaction to create the sensors in CARLA. On each timestep, which should be at 100 ms intervals, the CARLA Ambassador will now also call get_detections for every successful create_sensor attempt. This means that all the created sensor in CARLA will have their detections polled at the same interval as the CARLA Ambassador runs processTimeAdvanceGrant. The detections retrieved from the CARLA CDA Sim Adapter via the XMLRPC client will be serialized into DetectedObject(s) from json and triggered as interactions for other listening Ambassadors, mainly the infrastructure ambassador.

Related Jira Key

CDAR-209

Related Issue

211

Motivation and Context

Add CARLA Sensor pipeline for creating sensors and getting detections for CARMA-Streets

How Has This Been Tested?

Unit testing

Types of changes

[ ] Defect fix (non-breaking change that fixes an issue)
[x] New feature (non-breaking change that adds functionality)
[ ] Breaking change (fix or feature that cause existing functionality to change)