From dad254c19126e1bbac5c45b406a5a9795ecefed8 Mon Sep 17 00:00:00 2001 From: Julian-Graf Date: Tue, 28 Mar 2023 21:38:19 +0200 Subject: [PATCH 1/2] feat(#224): Update topics --- code/acting/src/acting/acc.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/code/acting/src/acting/acc.py b/code/acting/src/acting/acc.py index 447d8c99..758b41b0 100755 --- a/code/acting/src/acting/acc.py +++ b/code/acting/src/acting/acc.py @@ -5,6 +5,7 @@ from ros_compatibility.node import CompatibleNode from ros_compatibility.qos import QoSProfile, DurabilityPolicy from rospy import Publisher, Subscriber, Duration +from sensor_msgs.msg import Range from simple_pid import PID from std_msgs.msg import Float32, Bool @@ -22,8 +23,8 @@ def __init__(self): self.role_name = self.get_param('role_name', 'ego_vehicle') self.dist_sub: Subscriber = self.new_subscription( - Float32, - f"/paf/{self.role_name}/acc_distance", + Range, + "/carla/hero/LIDAR_filtered", self.__get_current_dist, qos_profile=1) @@ -137,9 +138,10 @@ def loop(timer_event=None): self.new_timer(self.control_loop_rate, loop) self.spin() - def __get_current_dist(self, data: Float32): - self.__dist = data.data + def __get_current_dist(self, data: Range): + self.__dist = data.range self.__dist_last_received_at = rospy.get_rostime() + self.logerr("Test") def __get_velocity(self, data: CarlaSpeedometer): self.__velocity = data.speed From 8532d172177c19929f7982d032b328366440f192 Mon Sep 17 00:00:00 2001 From: Julian-Graf Date: Wed, 29 Mar 2023 00:09:48 +0200 Subject: [PATCH 2/2] feat(#224): Update topic name --- code/acting/src/acting/acc.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/code/acting/src/acting/acc.py b/code/acting/src/acting/acc.py index 758b41b0..3094ca3d 100755 --- a/code/acting/src/acting/acc.py +++ b/code/acting/src/acting/acc.py @@ -24,7 +24,7 @@ def __init__(self): self.dist_sub: Subscriber = self.new_subscription( Range, - "/carla/hero/LIDAR_filtered", + "/carla/hero/LIDAR_range", self.__get_current_dist, qos_profile=1) @@ -141,7 +141,6 @@ def loop(timer_event=None): def __get_current_dist(self, data: Range): self.__dist = data.range self.__dist_last_received_at = rospy.get_rostime() - self.logerr("Test") def __get_velocity(self, data: CarlaSpeedometer): self.__velocity = data.speed