ros封装

src/tracking_car/carla_tracking_ros/.gitignore

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+# ROS编译文件
+build/
+devel/
+install/
+
+# Python缓存
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+.Python
+
+# 日志和临时文件
+*.log
+*.pid
+*.sqlite
+*.sqlite3
+
+# 编辑器文件
+.vscode/
+.idea/
+*.swp
+*.swo
+*~
+
+# 系统文件
+.DS_Store
+Thumbs.db
+
+# 备份文件
+*.bak
+*.backup
+*.tmp
+
+# 大文件
+*.bag
+*.mp4
+*.avi

src/tracking_car/carla_tracking_ros/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(carla_tracking_ros)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  cv_bridge
+  image_transport
+)
+
+catkin_python_setup()
+
+catkin_package(
+  CATKIN_DEPENDS roscpp rospy std_msgs cv_bridge image_transport
+)
+
+install(DIRECTORY launch/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+
+install(DIRECTORY config/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
+)
+
+install(FILES requirements.txt
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

src/tracking_car/carla_tracking_ros/config/config.yaml

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+# ======================== CARLA连接配置 ========================
+host: "localhost"
+port: 2000
+timeout: 20.0
+
+# ======================== 传感器配置 ========================
+img_width: 1280
+img_height: 960
+fov: 110
+sensor_tick: 0.05
+use_lidar: true
+
+# ======================== LiDAR配置 ========================
+lidar_channels: 32
+lidar_range: 100.0
+lidar_points_per_second: 500000
+
+# ======================== 检测模型配置 ========================
+yolo_model: "yolov8n.pt"
+conf_thres: 0.1
+iou_thres: 0.3
+device: "cpu"  
+yolo_imgsz_max: 640
+
+# ======================== 跟踪算法配置 ========================
+max_age: 5
+min_hits: 3
+kf_dt: 0.05
+max_speed: 50.0
+
+# ======================== 可视化配置 ========================
+window_width: 1280
+window_height: 720
+display_fps: 30
+
+# ======================== 轨迹历史配置 ========================
+track_history_len: 20
+
+# ======================== 行为分析配置 ========================
+stop_speed_thresh: 0.8
+stop_frames_thresh: 5
+overtake_speed_ratio: 1.5
+overtake_dist_thresh: 60.0
+lane_change_thresh: 0.4
+brake_accel_thresh: 2.0
+turn_angle_thresh: 15.0
+danger_dist_thresh: 15.0
+predict_frames: 10
+
+# ======================== 天气与NPC配置 ========================
+default_weather: "clear"
+num_npcs: 20
+
+# ======================== 视角控制配置 ========================
+view:
+  default_mode: "satellite"
+  satellite_height: 50.0
+  behind_distance: 10.0
+  first_person_height: 1.6
+
+# ======================== 热重载配置 ========================
+hot_reload:
+  enabled: true           # 是否启用热重载
+  check_interval: 100     # 每多少帧检查一次配置文件
+  safe_keys_only: true    # 是否只更新安全参数（避免重启连接）
+
+# 可热重载的安全参数列表（这些参数可以安全更新而不需要重启）
+hot_reload_safe_keys:
+  - "conf_thres"          # 检测置信度阈值
+  - "iou_thres"           # IOU阈值
+  - "display_fps"         # 显示帧率
+  - "max_age"             # 跟踪最大丢失帧数
+  - "min_hits"            # 跟踪最小匹配次数
+  - "adaptive_fps"        # 是否启用自适应帧率
+  - "min_fps"             # 最小FPS
+  - "max_fps"             # 最大FPS
+  - "fov"                 # 相机视野
+  - "yolo_imgsz_max"      # YOLO输入尺寸
+  - "stop_speed_thresh"   # 停车速度阈值
+  - "danger_dist_thresh"  # 危险距离阈值
+  - "weather"             # 天气设置
+
+# ======================== 交通标志检测配置 ========================
+enable_sign_detection: false  # 是否启用交通标志检测
+
+traffic_sign:
+  enabled: true               # 检测器是否启用
+  show_signs: true            # 是否显示检测框
+  enable_actions: false       # 是否触发动作（警告等）
+  conf_threshold: 0.5         # 置信度阈值

src/tracking_car/carla_tracking_ros/launch/main.launch

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+<?xml version="1.0"?>
+<launch>
+  <!-- 
+  CARLA多目标跟踪系统ROS封装
+  运行命令: roslaunch carla_tracking_ros main.launch
+  -->
+
+  <!-- 参数配置 -->
+  <arg name="mode" default="simulation" />
+  <arg name="gui" default="true" />
+  <arg name="config_file" default="$(find carla_tracking_ros)/config.yaml" />
+
+  <!-- 主节点 -->
+  <node name="carla_tracking_node" 
+        pkg="carla_tracking_ros" 
+        type="main.py" 
+        output="screen">
+
+    <!-- 配置文件 -->
+    <param name="config_path" value="$(arg config_file)" />
+
+    <!-- 运行模式 -->
+    <param name="mode" value="$(arg mode)" />
+
+  </node>
+
+  <!-- 图像查看器（可选） -->
+  <node name="image_view" 
+        pkg="image_view" 
+        type="image_view" 
+        args="image:=/carla/camera"
+        if="$(arg gui)" />
+
+</launch>

src/tracking_car/carla_tracking_ros/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>carla_tracking_ros</name>
+  <version>1.0.0</version>
+  <description>CARLA Multi-Object Tracking System - ROS Integration</description>
+
+  <maintainer email="tjl@todo.todo">tjl</maintainer>
+  <license>MIT</license>
+
+  <url type="website">https://github.com/yourusername/carla_tracking_ros</url>
+  <author email="tjl@todo.todo">tjl</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>roscpp</depend>
+  <depend>rospy</depend>
+  <depend>std_msgs</depend>
+  <depend>cv_bridge</depend>
+  <depend>image_transport</depend>
+
+  <!-- 消息和服务依赖 -->
+  <depend>message_generation</depend>
+  <depend>message_runtime</depend>
+
+  <!-- 测试依赖 -->
+  <test_depend>rosunit</test_depend>
+
+  <export>
+    <rosdoc config="rosdoc.yaml" />
+  </export>
+</package>

src/tracking_car/carla_tracking_ros/requirements.txt

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+# 核心依赖
+# 可选依赖
+
+carla>=0.9.14
+loguru>=0.7.0
+matplotlib>=3.7.0
+numba>=0.57.0
+numpy>=1.24.0
+open3d>=0.17.0
+opencv-python>=4.8.0
+pandas>=2.0.0
+psutil>=5.9.0
+pyyaml>=6.0.0
+scikit-learn>=1.2.0
+scipy>=1.10.0
+torch>=2.0.0
+ultralytics>=8.0.0