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Merged
david-gasinski merged 1 commit into from
Jul 28, 2025
Merged

idek #40

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1 change: 1 addition & 0 deletions Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
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4 changes: 2 additions & 2 deletions srunner/autoagents/autoware_agent.py
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Expand Up @@ -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
Expand Down Expand Up @@ -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:
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2 changes: 1 addition & 1 deletion srunner/autoagents/autoware_nodes/state_node.py
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Expand Up @@ -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):
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