Carla ROS bridge: 'SceneDescription' object has no attribute 'map_name'

I am trying to use carla_ros_bridge package Carla version 0.8.4 and ros kinetic

Running the test command fails

rostest carla_ros_bridge ros_bridge_client.test

Output:

Traceback (most recent call last):
  File "/home/anshul/catkin_ws/src/carla_ros_bridge/src/carla_ros_bridge/client.py", line 42, in <module>
    main()
  File "/home/anshul/catkin_ws/src/carla_ros_bridge/src/carla_ros_bridge/client.py", line 38, in main
    carla_ros_bridge.run()
  File "/home/anshul/catkin_ws/src/carla_ros_bridge/src/carla_ros_bridge/bridge.py", line 143, in run
    map_handler = MapHandler(scene.map_name)
AttributeError: 'SceneDescription' object has no attribute 'map_name'
[INFO] [1540391064.654831]: Shutdown requested
[Testcase: testtestTopics] ... ERROR!
ERROR: max time [20.0s] allotted for test [testTopics] of type [rostest/publishtest]
  File "/usr/lib/python2.7/unittest/case.py", line 329, in run
    testMethod()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rostest/runner.py", line 148, in fn
    self.test_parent.run_test(test)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rostest/rostest_parent.py", line 132, in run_test
    return self.runner.run_test(test)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 684, in run_test
    (test.time_limit, test.test_name, test.package, test.type))
--------------------------------------------------------------------------------

[ROSTEST]-----------------------------------------------------------------------


SUMMARY
 * RESULT: FAIL
 * TESTS: 0
 * ERRORS: 1
 * FAILURES: 0

AttributeError: ‘SceneDescription’ object has no attribute ‘map_name’

[danil-tolkachev]

Hi guys! Sorry, it is not documented. Working combination:

• Carla binaries form 0.8.4 release
• PythonClient from master branch
• carla_ros_bridge from master branch

[anshulpaigwar]

I also have Carla 0.82 Here is a workaround, I hardcoded scene.map_name as string “Town01”

map_handler = MapHandler("Town01")

Then you have another error that CarlaMap object takes 4 arguments but only 2 provided. Missing values for pixel_density, node_density For this, you have to change the map.py file line 20:

self.carla_map = CarlaMap(map_name)

to

self.carla_map = CarlaMap(map_name, 0.1643, 50)

pixel_density = 0.1643, node_density = 50

I found the values from previous versions of this file