Merge pull request #40 from Intelligent-Testing-Lab/28-add-support-for-spawning-ego-vehicle-through-scenario-runner

idek

Author: david-gasinski

Dockerfile

@@ -36,6 +36,7 @@ RUN mkdir /cyclonedds && \
     mv /autoware_scenario_runner/docker/cyclonedds.xml /cyclonedds/ && \
     echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc && \
     echo "export CYCLONEDDS_URI=file:///cyclonedds/cyclonedds.xml" >> ~/.bashrc && \
+    echo "alias rossrc='source ${AUTOWARE_MSG_PKG}} && source ${ROS_PKG}} && echo Sourced'" >> ~/.bashrc && \
     source ~/.bashrc
 
 ENV CARLA_API_ROOT="/autoware_scenario_runner/PythonAPI"

srunner/autoagents/autoware_agent.py

@@ -9,7 +9,7 @@
 
 from srunner.tools.environment_parser import EnvironmentConfig
 
-from autoware_carla_interface.msg import EgoConfig, SensorConfig
+from autoware_carla_interface_msgs.msg import EgoConfig, SensorConfig
 
 import threading
 import rclpy
@@ -67,7 +67,7 @@ def setup(self, config: EnvironmentConfig | None = None) -> None:
 
         # keep publishing ego_sensor config until the bridge is ready
         while not self.autoware_state.bridge_ready:
-            time.sleep(1)
+            time.sleep(5)
             self.state_node.ego_config_publisher.publish(ego_config_msg)
 
     def set_route(self) -> None:

srunner/autoagents/autoware_nodes/state_node.py

@@ -3,7 +3,7 @@
 from autoware_adapi_v1_msgs.msg import MotionState
 from autoware_adapi_v1_msgs.msg import LocalizationInitializationState
 from srunner.autoagents.agent_state import autoware_state
-from autoware_carla_interface.msg import EgoConfig, BridgeState
+from autoware_carla_interface_msgs.msg import EgoConfig, BridgeState
 
 
 class StateNode(Node):