文件列表:

CMakeLists.txt (445, 2019-04-25)
launch/ (0, 2019-04-25)
launch/carla_waypoint_publisher.launch (335, 2019-04-25)
package.xml (473, 2019-04-25)
setup.py (235, 2019-04-25)
src/ (0, 2019-04-25)
src/carla_waypoint_publisher/ (0, 2019-04-25)
src/carla_waypoint_publisher/__init__.py (0, 2019-04-25)
src/carla_waypoint_publisher/carla_waypoint_publisher.py (6507, 2019-04-25)

# Carla Waypoint Publisher Carla supports waypoint calculations. The node `carla_waypoint_publisher` makes this feature available in the ROS context. It uses the current pose of the ego vehicle with role-name "ego_vehicle" as starting point. If the vehicle is respawned, the route is newly calculated. ## Startup As the waypoint publisher requires some Carla PythonAPI functionality that is not part of the python egg-file, you have to extend your PYTHONPATH. export PYTHONPATH=$PYTHONPATH:/PythonAPI/carla-.egg:/PythonAPI/ To run it: roslaunch carla_waypoint_publisher carla_ros_waypoint_publisher.launch ## Set a goal The goal is either read from the ROS topic /move_base_simple/goal, if available, or a fixed spawnpoint is used. The prefered way of setting a goal is to click '2D Nav Goal' in RVIZ.  ## Published waypoints The calculated route is published: |Topic | Type | |--------------|------| | `/carla/ego_vehicle/waypoints` | [nav_msgs.Path](https://github.com/hakuturu583/carla_waypoint_publisher/blob/master/http://docs.ros.org/api/nav_msgs/html/msg/Path.html) |

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