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fix(autoware_carla_interface): publish every camera type, not only sensor.camera.rgb - #13409
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@ujinf74 Could you resolve conflicts? |
…nsor.camera.rgb The spawn path accepts any sensor.camera.* blueprint and the publisher lookup matches the same prefix, but publisher creation and the publish dispatch compared the type exactly against sensor.camera.rgb. A mapping naming CARLA's depth or semantic segmentation camera therefore spawned the sensor, got a "Unknown sensor type" warning instead of publishers, and then dropped every frame it produced into a debug log. These cameras deliver the same BGRA frame through the same callback and want the same pair of image/camera_info publishers, so match the prefix in both places, as the other two paths already do. Claude-Session: https://claude.ai/code/session_011TMdPd8VUDxUrFtckxg2AQ Signed-off-by: ujinf74 <ujin@tukorea.ac.kr>
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Rebased onto Both conflicts came from #13407/#13408/#13411 landing in the same file:
No behavior change from the previous revision. Package tests pass (22) and |
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## main #13409 +/- ##
==========================================
- Coverage 20.74% 20.74% -0.01%
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Files 2058 2058
Lines 143007 143007
Branches 52631 52631
==========================================
- Hits 29662 29661 -1
Misses 89560 89560
- Partials 23785 23786 +1
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…nsor.camera.rgb (autowarefoundation/autoware_universe#13409) The spawn path accepts any sensor.camera.* blueprint and the publisher lookup matches the same prefix, but publisher creation and the publish dispatch compared the type exactly against sensor.camera.rgb. A mapping naming CARLA's depth or semantic segmentation camera therefore spawned the sensor, got a "Unknown sensor type" warning instead of publishers, and then dropped every frame it produced into a debug log. These cameras deliver the same BGRA frame through the same callback and want the same pair of image/camera_info publishers, so match the prefix in both places, as the other two paths already do. Claude-Session: https://claude.ai/code/session_011TMdPd8VUDxUrFtckxg2AQ Signed-off-by: ujinf74 <ujin@tukorea.ac.kr>
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Description
The four places that decide what a camera is do not agree:
SensorWrapper._configure_sensor_blueprint)startswith("sensor.camera")carla_ros2_interface._setup_publishers)startswith("sensor.camera")ROSPublisherManager.create_publisher_for_sensor)== "sensor.camera.rgb"carla_ros2_interface._publish_sensor_data)== "sensor.camera.rgb"So a mapping naming
sensor.camera.depthorsensor.camera.semantic_segmentationspawns the sensor and attaches its callback, but getsUnknown sensor type: sensor.camera.depthinstead of publishers, and every frame it produces then falls through the dispatch into adebuglog. The sensor renders for the whole run and nothing is ever published.These cameras deliver the same BGRA frame through the same callback as the RGB one and want the same image/camera_info pair, so this PR matches the prefix in the two places that did not.
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Parent Issue:
How was this PR tested?
sensor.camera.depth: the bridge creates its image and camera_info publishers and the camera publishes (640x480bgra8, 1,228,800 bytes per frame, 19.80 Hz against a 20 Hz throttle). Onmainthe same mapping logsUnknown sensor type: sensor.camera.depthand publishes nothing.pytestovertest/: 14 passed (no test touches these paths; nothing regressed).markdownlint,prettier,isort,blackandflake8-rospre-commit hooks pass on the changed files.Notes for reviewers
The shipped mappings only use
sensor.camera.rgb, so nothing changes for them.The pixel values of a depth or semantic camera are an encoding, not a color, and this PR publishes them untouched as
bgra8for a consumer to decode. Decoding them in the bridge would be a separate change.