Add functionality to CDASim to create and poll detection data from sensors ( Lidar is the only CARLA Sensor type currently supported) spawned in CARLA. This includes development of CARLA Ambassador functionality to request creation of sensors based on received SensorRegistration interactions and to publish Detection interactions for each detection from the created sensor. Epic: https://usdot-carma.atlassian.net/browse/CDAR-71
Reasoning for new functionality
In support of Vulnerable Road User Cooperative Perception Use Case
Summary
Add functionality to CDASim to create and poll detection data from sensors ( Lidar is the only CARLA Sensor type currently supported) spawned in CARLA. This includes development of CARLA Ambassador functionality to request creation of sensors based on received SensorRegistration interactions and to publish Detection interactions for each detection from the created sensor. Epic: https://usdot-carma.atlassian.net/browse/CDAR-71
Reasoning for new functionality
In support of Vulnerable Road User Cooperative Perception Use Case