Update README.md

README.md

@@ -1,4 +1,4 @@
-# ROS/ROS2 bridge for CARLA simulator
+# ROS2 bridge for CARLA simulator (Modified to work with Autoware.Universe)
 
 [![Actions Status](https://github.com/carla-simulator/ros-bridge/workflows/CI/badge.svg)](https://github.com/carla-simulator/ros-bridge)
 [![Documentation](https://readthedocs.org/projects/carla/badge/?version=latest)](http://carla.readthedocs.io)
@@ -21,3 +21,67 @@
 ## Getting started and documentation
 
 Installation instructions and further documentation of the ROS bridge and additional packages are found [__here__](https://carla.readthedocs.io/projects/ros-bridge/en/latest/).
+
+# Fix Log
+carla_spawn_objects/carla_spawn_objects.py L49 : Fixed bag to load ego vehicle definition file
+```python
+self.objects_definition_file = self.get_param('objects_definition_file', '<path-to-this-pkg>/carla_spawn_objects/config/objects.json')
+```
+
+pcl_recorder/src/PclRecorderROS2.cpp L29 : fixed build error
+```python
+# transform = tf2::transformToEigen (tf_buffer_->lookupTransform(fixed_frame_, cloud->header.frame_id,  cloud->header.stamp, rclcpp::Duration(1)));
+transform = tf2::transformToEigen (tf_buffer_->lookupTransform(fixed_frame_, cloud->header.frame_id,  cloud->header.stamp, rclcpp::Duration::from_seconds(1)));
+
+# sub_opt.callback_group = this->create_callback_group(rclcpp::callback_group::CallbackGroupType::MutuallyExclusive);
+sub_opt.callback_group = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+```
+
+carla_ros_bridge/bridge.py L430 : fixed map loading bag
+```python
+# if "town" in parameters and not parameters['passive']:
+#     if parameters["town"].endswith(".xodr"):
+#         carla_bridge.loginfo(
+#             "Loading opendrive world from file '{}'".format(parameters["town"]))
+#         with open(parameters["town"]) as od_file:
+#             data = od_file.read()
+#         carla_world = carla_client.generate_opendrive_world(str(data))
+#     else:
+#         if carla_world.get_map().name != parameters["town"]:
+#             carla_bridge.loginfo("Loading town '{}' (previous: '{}').".format(
+#                 parameters["town"], carla_world.get_map().name))
+#             carla_world = carla_client.load_world(parameters["town"])
+#     carla_world.tick()
+```
+
+carla_spawn_objects/config/objects.json : Remove tf sensor
+
+ros_compatibility/src/ros_compatibility/node.py L137 : Fix error of /use_sim_time
+```python
+param = Parameter("use_sim_time", Parameter.Type.BOOL, True)
+#            param = Parameter("use_sim_time", Parameter.Type.BOOL, True)
+super(CompatibleNode, self).__init__(
+    name,
+    allow_undeclared_parameters=True,
+    automatically_declare_parameters_from_overrides=True,
+    parameter_overrides=[param],
+#                automatically_declare_parameters_from_overrides=True,
+    automatically_declare_parameters_from_overrides=False,
+#                parameter_overrides=[param],
+    parameter_overrides=[],
+
+```
+
+carla_spawn_objects/launch/carla_example_ego_vehicle.launch.py L41 : Remove function that change ego_vehicle position by /initial_pose
+```python
+#        launch.actions.IncludeLaunchDescription(
+#            launch.launch_description_sources.PythonLaunchDescriptionSource(
+#                os.path.join(get_package_share_directory(
+#                    'carla_spawn_objects'), 'set_initial_pose.launch.py')
+#            ),
+#            launch_arguments={
+#                'role_name': launch.substitutions.LaunchConfiguration('role_name'),
+#                'control_id': launch.substitutions.LaunchConfiguration('control_id')
+#            }.items()
+#        )
+```