From 95391d2bdc4a980759af4b474d081ff47f28608c Mon Sep 17 00:00:00 2001 From: Yecheng Lyu Date: Mon, 1 Apr 2019 09:21:54 -0400 Subject: [PATCH] Add waypoint marks to Carla --- GlobalPathCarla2ROS.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/GlobalPathCarla2ROS.py b/GlobalPathCarla2ROS.py index befe378..567a1f9 100644 --- a/GlobalPathCarla2ROS.py +++ b/GlobalPathCarla2ROS.py @@ -42,6 +42,14 @@ def __init__(self, world = " ", ns = " ",source=0,destination=14): self.p = get_shortest_path(self.graph, self.source, self.destination) + for i in range(self.p.shape[0]): + wp = carla.Location(self.p[i][0],self.p[i][1],self.p[i][2]) + world.debug.draw_point(wp, size=0.1, color=carla.Color(0, 255, 0), life_time=300.0,persistent_lines=True) + # print(wp) + + + + # Because ROS Uses right handed coordinate system # and carla uses left handed coordinated system