added max_real_delta_seconds parameter to limit sim speed

Author: mraditya01

simulator/carla_autoware/README.md

@@ -73,6 +73,7 @@ All the key parameters can be configured in `carla_autoware.launch.xml`.
 | `fixed_delta_seconds`     | double | 0.05                                            | Time step for the simulation (related to client FPS)                                                                                                                |
 | `objects_definition_file` | string | "$(find-pkg-share carla_autoware)/objects.json" | Sensor parameters file that are used for spawning sensor in CARLA                                                                                                   |
 | `use_traffic_manager`     | bool   | True                                            | Boolean flag to set traffic manager in CARLA                                                                                                                        |
+| `max_real_delta_seconds`  | double | 0.05                                            | Parameter to limit the simulation speed below `fixed_delta_seconds`                                                                                                 |
 
 ### Configurable Parameters for Sensors
 

simulator/carla_autoware/launch/carla_autoware.launch.xml

@@ -10,6 +10,7 @@
   <arg name="fixed_delta_seconds" default="0.05" description="Timestep for CARLA, FPS=1/value"/>
   <arg name="objects_definition_file" default="$(find-pkg-share carla_autoware)/objects.json"/>
   <arg name="use_traffic_manager" default="False"/>
+  <arg name="max_real_delta_seconds" default="0.05"/>
 
   <!-- CARLA Interface -->
   <node pkg="carla_autoware" exec="carla_autoware" name="carla_autoware" output="screen">
@@ -24,6 +25,7 @@
     <param name="vehicle_type" value="$(var vehicle_type)"/>
     <param name="objects_definition_file" value="$(var objects_definition_file)"/>
     <param name="use_traffic_manager" value="$(var use_traffic_manager)"/>
+    <param name="max_real_delta_seconds" value="$(var max_real_delta_seconds)"/>
   </node>
 
   <!-- Awsim configuration frame to CARLA frame -->

simulator/carla_autoware/resource/carla_autoware

@@ -60,6 +60,8 @@ def __init__(self):
         self.world = None
         self.sensor_wrapper = None
         self.ego_vehicle = None
+        self.timestamp_last_run = 0.0
+        self.delta_step = 0.0
 
         # Parameter for Initializing Carla World
         self.local_host = self.param_["host"]
@@ -72,6 +74,7 @@ def __init__(self):
         self.vehicle_type = self.param_["vehicle_type"]
         self.spawn_point = self.param_["spawn_point"]
         self.use_traffic_manager = self.param_["use_traffic_manager"]
+        self.max_real_delta_seconds = self.param_["max_real_delta_seconds"]
 
     def load_world(self):
         client = carla.Client(self.local_host, self.port)
@@ -164,6 +167,11 @@ def run_bridge(self):
                 if snapshot:
                     timestamp = snapshot.timestamp
             if timestamp:
+                self.delta_step = timestamp.elapsed_seconds - self.timestamp_last_run
+                if self.delta_step < self.max_real_delta_seconds:
+                    # Add a wait to match the max_real_delta_seconds
+                    time.sleep(self.max_real_delta_seconds - self.delta_step)
+                self.timestamp_last_run = timestamp.elapsed_seconds
                 self.bridge_loop._tick_sensor(timestamp)
 
     def _stop_loop(self, signum, frame):

simulator/carla_autoware/src/carla_autoware/carla_autoware.py

@@ -94,6 +94,7 @@ def setup(self):
             "vehicle_type": rclpy.Parameter.Type.STRING,
             "objects_definition_file": rclpy.Parameter.Type.STRING,
             "use_traffic_manager": rclpy.Parameter.Type.BOOL,
+            "max_real_delta_seconds": rclpy.Parameter.Type.DOUBLE,
         }
         self.param_values = {}
         for param_name, param_type in self.parameters.items():