Supports Carla 0.9.13?
Chuck1989niu opened this issue · 5 comments
I wanted to test Carla0.9.13 with ROS2 and ROS bridge. The CARLA part is running correctly.Start the ROS bridge properly.(ros2 launch carla_ros_bridge carla_ros_bridge.launch.py), however when I try to launch Spawn objects, I get an error that one of the parameters is None.
My environment:
Ros 2 Foxy
Carla0.9.13 on brach master
Latest ROS bridge
Execution command :
The CARLA part:
~$ cd carla
~$ make launch (play)
The ROS2 part:
~$ cd carla-ros-bridge
~$ source ./install/setup.bash
~$ ros2 launch carla_ros_bridge carla_ros_bridge.launch.py timeout:=30
In another terminal
~$ ros2 launch carla_spawn_objects carla_spawn_objects.launch.py
The full exception:
[INFO] [launch]: All log files can be found below /home/chuck/.ros/log/2022-03-08-09-55-46-690946-chuck01-10518
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=TypeError("Allowed value types are bytes, bool, int, float, str, Sequence[bool], Sequence[int], Sequence[float], Sequence[str]. Got <class 'NoneType'>.If the parameter is meant to be a string, try wrapping it in launch_ros.parameter_descriptions.ParameterValue(value, value_type=str)")>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
[Previous line repeated 1 more time]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 444, in execute
self._perform_substitutions(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 399, in _perform_substitutions
evaluated_parameters = evaluate_parameters(context, self.__parameters)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 160, in evaluate_parameters
output_params.append(evaluate_parameter_dict(context, param))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 95, in evaluate_parameter_dict
raise TypeError(
TypeError: Allowed value types are bytes, bool, int, float, str, Sequence[bool], Sequence[int], Sequence[float], Sequence[str]. Got <class 'NoneType'>.If the parameter is meant to be a string, try wrapping it in launch_ros.parameter_descriptions.ParameterValue(value, value_type=str)
How can this error be resolved?
Same question from me :-)
Not able to use 9.1.12 because of issue carla-simulator/carla#3599
But 9.1.13 not compatible with ROS bridge
I had the same problem when trying to run ros-brigde with Carla 0.9.13. Running it with a modified version of launch_ros (ros2/launch_ros#320) it was possible to discover that the problem is the evaluation of the parameter spawn_point_ego_vehicle.
I believe that if you pass any string for the parameter spawn_point_ego_vehicle in the command line, the error shouldn't occur.
ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py spawn_point_ego_vehicle:=spawn_point
If you pass an invalid string, the message should be
[carla_spawn_objects-4] [WARN] [1656355794.696531425] [carla_spawn_objects]: Invalid spawnpoint 'spawn_point'
[carla_spawn_objects-4] [WARN] [1656355794.697031216] [carla_spawn_objects]: ego_vehicle: Could not use
spawn point from parameters, the spawn point from config file will be used.
And then ros bridge runs normally
Just change the Carla version written inside the file "carla-ros-bridge/install/carla_ros_bridge/lib/python3.8/site-packages/carla_ros_bridge/CARLA_VERSION" from "0.9.12" to "0.9.13"
Hi,
I found a different solution for the problem with the spawn_point by explicitly converting it to string after launch.substitution. See one of the launch files here. Even if I am working on 0.9.11 branch, I believe this solution should also work independent from the CARLA version (as it's related rather to the ROS2 version used).
Worked for me @FelipeGdM, thank you/muito obrigado!