Skip to content

Add orientation from CARLA api #60

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
Gwilym-Rutherford merged 1 commit into from
Aug 4, 2025
Merged

Add orientation from CARLA api #60

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
22 changes: 17 additions & 5 deletions srunner/autoagents/autoware_nodes/autoware_types/waypoint.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,12 +33,25 @@ def autoware_from_world_coords(self) -> Pose:

orientation = self._get_orientation()

curr_location = carla.Location(self.x, self.y, self.z)
orientation = (
self.client.get_world()
.get_waypoint(
curr_location, project_to_road=True, lane_type=carla.LaneType.Driving
)
.transform.rotation
)

qx, qy, qz, qw = quaternion_from_euler(
orientation.roll, orientation.pitch, round(orientation.yaw, 1)
)

pose.position = ros_point
pose.orientation = Quaternion(
x=orientation["x"],
y=orientation["y"],
z=orientation["z"],
w=orientation["w"],
x=qx,
y=qy,
z=qz,
w=qw,
)

if self.marker_pub is not None:
Expand All @@ -50,7 +63,6 @@ def autoware_from_world_coords(self) -> Pose:
return pose

def _get_orientation(self) -> dict:
curr_location = carla.Location(self.x, self.y, self.z)
point1 = (
self.client.get_world()
.get_map()
Expand Down