ActorROS2Handler.cpp

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#include "ActorROS2Handler.h"
#include "Carla/Vehicle/CarlaWheeledVehicle.h"
#include "Carla/Vehicle/VehicleAckermannControl.h"
#include "Carla/Vehicle/VehicleControl.h"
 
void ActorROS2Handler::operator()(carla::ros2::VehicleControl &Source)
{
  if (!_Actor) return;
 
  ACarlaWheeledVehicle *Vehicle = Cast<ACarlaWheeledVehicle>(_Actor);
  if (!Vehicle) return;
 
  // setup control values
  FVehicleControl NewControl;
  NewControl.Throttle = Source.throttle;
  NewControl.Steer = Source.steer;
  NewControl.Brake = Source.brake;
  NewControl.bHandBrake = Source.hand_brake;
  NewControl.bReverse = Source.reverse;
  NewControl.bManualGearShift = Source.manual_gear_shift;
  NewControl.Gear = Source.gear;
 
  Vehicle->ApplyVehicleControl(NewControl, EVehicleInputPriority::User);
}
 
void ActorROS2Handler::operator()(carla::ros2::AckermannControl &Source)
{
  if (!_Actor) return;
 
  ACarlaWheeledVehicle *Vehicle = Cast<ACarlaWheeledVehicle>(_Actor);
  if (!Vehicle) return;
 
  FVehicleAckermannControl NewControl;
  NewControl.Steer = Source.steer;
  NewControl.SteerSpeed = Source.steer_speed;
  NewControl.Speed = Source.speed;
  NewControl.Acceleration = Source.acceleration;
  NewControl.Jerk = Source.jerk;
 
  Vehicle->ApplyVehicleAckermannControl(NewControl, EVehicleInputPriority::User);
}
 
void ActorROS2Handler::operator()(carla::ros2::VehicleAccelerationControl &Source)
{
  if (!IsValid(_Actor)) return;
 
  ACarlaWheeledVehicle *Vehicle = Cast<ACarlaWheeledVehicle>(_Actor);
  if (!IsValid(Vehicle)) return;
 
  // /control/command/control_cmd: use acceleration [m/s^2] + steering for acceleration control
  Vehicle->ApplyVehicleAccelerationControl(Source.acceleration, Source.steer, Source.steer_speed);
}
 
void ActorROS2Handler::operator()(carla::ros2::MessageControl Message)
{
  if (!_Actor) return;
 
  ACarlaWheeledVehicle *Vehicle = Cast<ACarlaWheeledVehicle>(_Actor);
  if (!Vehicle) return;
 
  Vehicle->PrintROS2Message(Message.message);
 
  // FString ROSMessage = Message.message;
  // UE_LOG(LogCarla, Warning, TEXT("ROS2 Message received: %s"), *ROSMessage);
}
 
bool ActorROS2Handler::FlattenSteeringCurve(AActor *Actor)
{
  if (!IsValid(Actor)) return false;
 
  ACarlaWheeledVehicle * const Vehicle = Cast<ACarlaWheeledVehicle>(Actor);
  if (!IsValid(Vehicle)) return false;
 
  auto VehiclePhysicsControl = Vehicle->GetVehiclePhysicsControl();
 
  /// @note Flatten steering curve to be always 1.0 to properly map wheel angle to steering at all speeds
  VehiclePhysicsControl.SteeringCurve.Reset();
  VehiclePhysicsControl.SteeringCurve.AddKey(0.f,   1.f);
  VehiclePhysicsControl.SteeringCurve.AddKey(120.f, 1.f);
 
  Vehicle->ApplyVehiclePhysicsControl(VehiclePhysicsControl);
  UE_LOG(LogCarla, Log, TEXT("Resetting SteeringCurve!"));
 
  return true;
}