modified AutowareTick message

Author: david-gasinski

docker/autoware_cawsr_msgs.tar.xz

@@ -40,7 +40,7 @@ def setup(self, config: EnvironmentConfig | None = None) -> None:
         self.autoware_state = autoware_state.AutowareState("ego_vehicle", None)
 
         self.state_node = state_node.StateNode(self.autoware_state)
-        self.state_node.reset_autoware(self.config.town)
+        self.state_node.reset_autoware(self.config.town, self.config.ego_name)
 
         self.route_node = route_node.RouteNode(self.autoware_state)
         self.autoware_node = autoware_node.AutowareNode(self.autoware_state)
@@ -103,7 +103,7 @@ def _convert_to_waypoint(self, point):
     def destroy(self) -> None:
         """Cleanup"""
         logger.info("Sending shutdown signal to autoware...")
-        self.state_node.reset_autoware(self.config.town)
+        self.state_node.reset_autoware(self.config.town, self.config.ego_name)
         logger.info("Waiting for shutdown. Starting Node cleanup")
         time.sleep(1)  # sleep for 1 second for sanity
         try:

srunner/autoagents/autoware_agent.py

@@ -68,9 +68,11 @@ def localize_state_cb(
         self.autoware_state.localize_state = localize_state_msg.state
         logger.info(f"Localization state: {self.autoware_state.localize_state}")
 
-    def reset_autoware(self, carla_map: str):
+    def reset_autoware(self, carla_map: str, ego_name: str):
         """Publishes an empty message to reset autoware."""
+
         msg = AutowareRestart()
-        msg.carla_map = carla_map
+        msg.carla_map = str(carla_map)
+        msg.ego_name = str(ego_name)
 
         self.restart_autoware_pub.publish(msg)