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correct position of walkers. #648

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correct position of walkers. #648

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14 changes: 14 additions & 0 deletions carla_ros_bridge/src/carla_ros_bridge/walker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
Classes to handle Carla pedestrians
"""

import carla_common.transforms as trans
from carla import WalkerControl

from carla_ros_bridge.traffic_participant import TrafficParticipant
Expand Down Expand Up @@ -82,6 +83,19 @@ def control_command_updated(self, ros_walker_control):
walker_control.jump = ros_walker_control.jump
self.carla_actor.apply_control(walker_control)

def get_current_ros_pose(self):
"""
Function to return the pose for walkers.

:return: the pose of the walker
:rtype: geometry_msgs.msg.Pose
"""
# Moving position of walkers from the pivot point to the bottom of the bounding box.
extent = self.carla_actor.bounding_box.extent
pose_transform = self.carla_actor.get_transform()
pose_transform.location -= pose_transform.get_up_vector() * extent.z
return trans.carla_transform_to_ros_pose(pose_transform)

def get_classification(self):
"""
Function (override) to get classification
Expand Down