[carla]carla-ros-bridge调整主监视器视角

文章讲述了如何在`carla_ros_bridge`的Python脚本中修改`actor_factory.py`和`bridge.py`文件,以调整观察者的高度。通过添加`set_spectator`函数并更新`update_available_objects`,将观察者的位置设定为IMUactor上方特定高度。同时,在`CarlaRosBridge`类中新增了一个`camera_height`属性,允许传入高度参数。

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打开文件:

carla_ros_bridge/src/carla_ros_bridge/actor_factory.py

class ActorFactory(object):中添加函数:

    def set_spectator(self, world, actor, height):
        spectator = world.get_spectator()
        transform = actor.get_transform()
        spectator.set_transform(
            carla.Transform(
                transform.location + carla.Location(z=height),
                carla.Rotation(pitch=-90),
            )
        )

update_available_objects(self):函数中最后面添加:

        actors = self.world.get_actors()
        actor = actors.filter('*imu*')
        if len(actor) != 0:
            self.set_spectator(self.world, actor[0], height=self.camera_height)

打开文件:

carla_ros_bridge/src/carla_ros_bridge/bridge.py

在CarlaRosBridge类中添加了一个camera_height的属性。可以在430行

carla_bridge = CarlaRosBridge(camera_height=300)

中传入高度参数。

dwh@PC:~/carla-ros-bridge/catkin_ws$ catkin_make # 或 catkin build(若使用catkin_tools) Base path: /home/dwh/carla-ros-bridge/catkin_ws Source space: /home/dwh/carla-ros-bridge/catkin_ws/src Build space: /home/dwh/carla-ros-bridge/catkin_ws/build Devel space: /home/dwh/carla-ros-bridge/catkin_ws/devel Install space: /home/dwh/carla-ros-bridge/catkin_ws/install Multiple packages found with the same name "carla_ackermann_control": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ackermann_control - ros-bridge/carla_ackermann_control Multiple packages found with the same name "carla_ackermann_msgs": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ackermann_msgs - ros-bridge/carla_ackermann_msgs Multiple packages found with the same name "carla_ad_agent": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ad_agent - ros-bridge/carla_ad_agent Multiple packages found with the same name "carla_ad_demo": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ad_demo - ros-bridge/carla_ad_demo Multiple packages found with the same name "carla_common": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_common - ros-bridge/carla_common Multiple packages found with the same name "carla_manual_control": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_manual_control - ros-bridge/carla_manual_control Multiple packages found with the same name "carla_msgs": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_msgs - ros-bridge/carla_msgs Multiple packages found with the same name "carla_ros_bridge": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ros_bridge - ros-bridge/carla_ros_bridge Multiple packages found with the same name "carla_ros_scenario_runner": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ros_scenario_runner - ros-bridge/carla_ros_scenario_runner Multiple packages found with the same name "carla_ros_scenario_runner_types": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ros_scenario_runner_types - ros-bridge/carla_ros_scenario_runner_types Multiple packages found with the same name "carla_spawn_objects": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_spawn_objects - ros-bridge/carla_spawn_objects Multiple packages found with the same name "carla_twist_to_control": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_twist_to_control - ros-bridge/carla_twist_to_control Multiple packages found with the same name "carla_walker_agent": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_walker_agent - ros-bridge/carla_walker_agent Multiple packages found with the same name "carla_waypoint_publisher": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_waypoint_publisher - ros-bridge/carla_waypoint_publisher Multiple packages found with the same name "carla_waypoint_types": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_waypoint_types - ros-bridge/carla_waypoint_types Multiple packages found with the same name "pcl_recorder": - ros-bridge/carla-ros-bridge/src/ros-bridge/pcl_recorder - ros-bridge/pcl_recorder Multiple packages found with the same name "ros_compatibility": - ros-bridge/carla-ros-bridge/src/ros-bridge/ros_compatibility - ros-bridge/ros_compatibility Multiple packages found with the same name "rqt_carla_control": - ros-bridge/carla-ros-bridge/src/ros-bridge/rqt_carla_control - ros-bridge/rqt_carla_control Multiple packages found with the same name "rviz_carla_plugin": - ros-bridge/carla-ros-bridge/src/ros-bridge/rviz_carla_plugin - ros-bridge/rviz_carla_plugin dwh@PC:~/carla-ros-bridge/catkin_ws$ source devel/setup.bash bash: devel/setup.bash: 没有那个文件或目录
03-19
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