carla-simulator/ros-bridge

Setting “sensor_tick” in carla_spawn_objects/config/objects.json doesn't work

suyuzhu opened this issue · 2 comments

suyuzhu commented

Why do I set "fixed_delta_seconds" in ros-bridge/carla_ros_bridge/launch/carla_ros_bridge_with_example_ego_vehicle.launch to 0.01,and set the camera's "sensor_tick" in carla_spawn_objects/config/objects.json to 0.02, but the rostopic hz /carla/ego_vehicle/rgb_front/image is only 10~20, and the camera frequency is different every time I roslaunch carla_ros_bridge_with_example_ego_vehicle.launch

This is the carla_ros_bridge_with_example_ego_vehicle.launch I set:

<!-- -->
<launch>
  <!-- CARLA connection -->
  <arg name='host' default='localhost'/>
  <arg name='port' default='2000'/>
  <arg name='timeout' default='10'/>

  <!-- Ego vehicle -->
  <arg name='role_name' default='ego_vehicle'/>
  <arg name="vehicle_filter" default='vehicle.*'/>
  <arg name="spawn_point" default=""/><!-- use comma separated format "x,y,z,roll,pitch,yaw" -->

  <!-- Map to load on startup (either a predefined CARLA town (e.g. 'Town01'), or a OpenDRIVE map file) -->
  <arg name="town" default='Town03'/>

  <!-- Enable/disable passive mode -->
  <arg name='passive' default='true'/>

  <!-- Synchronous mode-->
  <arg name='synchronous_mode_wait_for_vehicle_control_command' default='False'/>
  <arg name='fixed_delta_seconds' default='0.01'/>


  <include file="$(find carla_ros_bridge)/launch/carla_ros_bridge.launch">
    <arg name='host' value='$(arg host)'/>
    <arg name='port' value='$(arg port)'/>
    <arg name='town' value='$(arg town)'/>
    <arg name='timeout' value='$(arg timeout)'/>
    <arg name='passive' value='$(arg passive)'/>
    <arg name='synchronous_mode_wait_for_vehicle_control_command' value='$(arg synchronous_mode_wait_for_vehicle_control_command)'/>
    <arg name='fixed_delta_seconds' value='$(arg fixed_delta_seconds)'/>
  </include>

  <!-- the ego vehicle, that will be controlled by an agent (e.g. carla_ad_agent) -->
  <include file="$(find carla_spawn_objects)/launch/carla_example_ego_vehicle.launch">
    <arg name="objects_definition_file" value='$(find carla_spawn_objects)/config/objects.json'/>
    <arg name='role_name' value='$(arg role_name)'/>
    <arg name="spawn_point_ego_vehicle" value="$(arg spawn_point)"/>
    <arg name="spawn_sensors_only" value="false"/>
  </include>

  <include file="$(find carla_manual_control)/launch/carla_manual_control.launch">
    <arg name='role_name' value='$(arg role_name)'/>
  </include>

</launch>

And the objects.json camera part is :

 "sensors": 
            [
                {
                    "type": "sensor.camera.rgb",
                    "id": "rgb_front",
                    "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
                    "image_size_x": 800,
                    "image_size_y": 600,
                    "fov": 90.0,
                    "sensor_tick":0.02
                },

When I run the bridge

roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch

It can show the fixed_delta_seconds is right
image

and check the frequence of camera

rostopic hz /carla/ego_vehicle/rgb_front/image

It appears like this:
image

I really don't know what to do to get higher frequence of the sensor.
Can anyone give some advice?
Thanks!

Billthekidz commented

I recently encounter another issue with timing: I want my GNSS sensor to publish at 1 Hz, and it does, but the flow of time inside the simulation is slower than the real time.
But all I have to say for your issue is that the synchronous mode + fixed_delta_seconds setting could have a huge impact on your real-time performance, not just how smooth the simulation is, but also how accurate your sensor frequency is.

So study the doc about these topic and wish the best.

goodgoodliving commented

为什么我将 ros-bridge/carla_ros_bridge/launch/carla_ros_bridge_with_example_ego_vehicle.launch 中的“fixed_delta_seconds”设置为 0.01，而在 carla_spawn_objects/config/objects.json 中将相机的**“sensor_tick”**设置为 0.02，但 rostopic hz /carla/ego_vehicle/rgb_front/image 只有 10~20，而且每次 roslaunch carla_ros_bridge_with_example_ego_vehicle.launch 时相机频率都不一样

这是我设置_的carla_ros_bridge_with_example_ego_vehicle.launch_：

<!-- -->
<launch>
  <!-- CARLA connection -->
  <arg name='host' default='localhost'/>
  <arg name='port' default='2000'/>
  <arg name='timeout' default='10'/>

  <!-- Ego vehicle -->
  <arg name='role_name' default='ego_vehicle'/>
  <arg name="vehicle_filter" default='vehicle.*'/>
  <arg name="spawn_point" default=""/><!-- use comma separated format "x,y,z,roll,pitch,yaw" -->

  <!-- Map to load on startup (either a predefined CARLA town (e.g. 'Town01'), or a OpenDRIVE map file) -->
  <arg name="town" default='Town03'/>

  <!-- Enable/disable passive mode -->
  <arg name='passive' default='true'/>

  <!-- Synchronous mode-->
  <arg name='synchronous_mode_wait_for_vehicle_control_command' default='False'/>
  <arg name='fixed_delta_seconds' default='0.01'/>


  <include file="$(find carla_ros_bridge)/launch/carla_ros_bridge.launch">
    <arg name='host' value='$(arg host)'/>
    <arg name='port' value='$(arg port)'/>
    <arg name='town' value='$(arg town)'/>
    <arg name='timeout' value='$(arg timeout)'/>
    <arg name='passive' value='$(arg passive)'/>
    <arg name='synchronous_mode_wait_for_vehicle_control_command' value='$(arg synchronous_mode_wait_for_vehicle_control_command)'/>
    <arg name='fixed_delta_seconds' value='$(arg fixed_delta_seconds)'/>
  </include>

  <!-- the ego vehicle, that will be controlled by an agent (e.g. carla_ad_agent) -->
  <include file="$(find carla_spawn_objects)/launch/carla_example_ego_vehicle.launch">
    <arg name="objects_definition_file" value='$(find carla_spawn_objects)/config/objects.json'/>
    <arg name='role_name' value='$(arg role_name)'/>
    <arg name="spawn_point_ego_vehicle" value="$(arg spawn_point)"/>
    <arg name="spawn_sensors_only" value="false"/>
  </include>

  <include file="$(find carla_manual_control)/launch/carla_manual_control.launch">
    <arg name='role_name' value='$(arg role_name)'/>
  </include>

</launch>

_objects.json_相机部分是：

 "sensors": 
            [
                {
                    "type": "sensor.camera.rgb",
                    "id": "rgb_front",
                    "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
                    "image_size_x": 800,
                    "image_size_y": 600,
                    "fov": 90.0,
                    "sensor_tick":0.02
                },

当我跑桥时

roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch

它可以显示fixed_delta_seconds是正确的 image

并检查相机的频率

Rostopic hz /carla/ego_vehicle/rgb_front/Image

它看起来像这样： image

我真的不知道该怎么做才能获得更高的传感器频率。谁能给出一些建议？ 谢谢！

为什么我将 ros-bridge/carla_ros_bridge/launch/carla_ros_bridge_with_example_ego_vehicle.launch 中的“fixed_delta_seconds”设置为 0.01，而在 carla_spawn_objects/config/objects.json 中将相机的**“sensor_tick”**设置为 0.02，但 rostopic hz /carla/ego_vehicle/rgb_front/image 只有 10~20，而且每次 roslaunch carla_ros_bridge_with_example_ego_vehicle.launch 时相机频率都不一样

这是我设置_的carla_ros_bridge_with_example_ego_vehicle.launch_：

<!-- -->
<launch>
  <!-- CARLA connection -->
  <arg name='host' default='localhost'/>
  <arg name='port' default='2000'/>
  <arg name='timeout' default='10'/>

  <!-- Ego vehicle -->
  <arg name='role_name' default='ego_vehicle'/>
  <arg name="vehicle_filter" default='vehicle.*'/>
  <arg name="spawn_point" default=""/><!-- use comma separated format "x,y,z,roll,pitch,yaw" -->

  <!-- Map to load on startup (either a predefined CARLA town (e.g. 'Town01'), or a OpenDRIVE map file) -->
  <arg name="town" default='Town03'/>

  <!-- Enable/disable passive mode -->
  <arg name='passive' default='true'/>

  <!-- Synchronous mode-->
  <arg name='synchronous_mode_wait_for_vehicle_control_command' default='False'/>
  <arg name='fixed_delta_seconds' default='0.01'/>


  <include file="$(find carla_ros_bridge)/launch/carla_ros_bridge.launch">
    <arg name='host' value='$(arg host)'/>
    <arg name='port' value='$(arg port)'/>
    <arg name='town' value='$(arg town)'/>
    <arg name='timeout' value='$(arg timeout)'/>
    <arg name='passive' value='$(arg passive)'/>
    <arg name='synchronous_mode_wait_for_vehicle_control_command' value='$(arg synchronous_mode_wait_for_vehicle_control_command)'/>
    <arg name='fixed_delta_seconds' value='$(arg fixed_delta_seconds)'/>
  </include>

  <!-- the ego vehicle, that will be controlled by an agent (e.g. carla_ad_agent) -->
  <include file="$(find carla_spawn_objects)/launch/carla_example_ego_vehicle.launch">
    <arg name="objects_definition_file" value='$(find carla_spawn_objects)/config/objects.json'/>
    <arg name='role_name' value='$(arg role_name)'/>
    <arg name="spawn_point_ego_vehicle" value="$(arg spawn_point)"/>
    <arg name="spawn_sensors_only" value="false"/>
  </include>

  <include file="$(find carla_manual_control)/launch/carla_manual_control.launch">
    <arg name='role_name' value='$(arg role_name)'/>
  </include>

</launch>

_objects.json_相机部分是：

 "sensors": 
            [
                {
                    "type": "sensor.camera.rgb",
                    "id": "rgb_front",
                    "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
                    "image_size_x": 800,
                    "image_size_y": 600,
                    "fov": 90.0,
                    "sensor_tick":0.02
                },

当我跑桥时

roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch

它可以显示fixed_delta_seconds是正确的 image

并检查相机的频率

Rostopic hz /carla/ego_vehicle/rgb_front/Image

它看起来像这样： image

我真的不知道该怎么做才能获得更高的传感器频率。谁能给出一些建议？ 谢谢！

@suyuzhu Have you resolved it? I'm encountering the same issue now.