Fix for below ground trigger boxes.

[GoodarzMehr]

Fixes #9362 , does not fix #9361 as that seems to be an ObjectRegister issue. Basically, instead of moving actors to ground height, this only moves the static mesh component, preserving the location of the trigger boxes. I have also increased the Start search height to 200.0f since traffic lights in Town12 are spawn ~70 cm below the ground level and need to be brought up.

I've been using the following script to test this:

import time
import carla

import numpy as np 

client = carla.Client('localhost', 2000)
client.set_timeout(80.0)
client.load_world('Town12')

time.sleep(3.0)

world = client.get_world()
sp = world.get_spectator()
sp.set_location(carla.Location(x=-1130, y=3930.0, z=360.0))

time.sleep(3.0)

actors = world.get_actors()
for x in actors:
    if 8 in x.semantic_tags and not x.is_dormant:
        bbox = x.bounding_box.get_world_vertices(x.get_transform())
        for y in bbox:
            world.debug.draw_point(y, size=0.5, color=carla.Color(255, 0, 0), life_time=100.0)

time.sleep(1.0)

signs = world.get_environment_objects(carla.CityObjectLabel.TrafficSigns)
for obj in signs:
    bbox = obj.bounding_box.get_local_vertices()
    for y in bbox:
        world.debug.draw_point(y, size=0.5, color=carla.Color(255, 255, 255), life_time=100.0)

time.sleep(20.0)

sp.set_location(carla.Location(x=-800, y=3930.0, z=370.0))

time.sleep(3.0)

for x in actors:
    if 7 in x.semantic_tags and not x.is_dormant:
        bbox = x.bounding_box.get_world_vertices(x.get_transform())
        for y in bbox:
            world.debug.draw_point(y, size=0.5, color=carla.Color(0, 255, 0), life_time=100.0)

time.sleep(20.0)

for x in actors:
    if 7 in x.semantic_tags and not x.is_dormant:
        bboxes = x.get_light_boxes()
        for box in bboxes:
            bbox = box.get_local_vertices()
            x_diff = round((x.get_location().x - box.location.x)/1000.0) * 1000.0
            y_diff = round((x.get_location().y - box.location.y)/1000.0) * 1000.0
            for y in bbox:
                world.debug.draw_point(y + carla.Vector3D(x=x_diff, y=y_diff, z=0.0), size=0.5, color=carla.Color(0, 0, 255), life_time=100.0)

Where has this been tested?

• Platform(s): Ubuntu 22.04
• Python version(s): 3.10.12
• Unreal Engine version(s): 4.26

Possible Drawbacks

N/A at the moment.

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This change is 

[update-docs]

Thanks for opening this pull request! The maintainers of this repository would appreciate it if you would update our CHANGELOG.md based on your changes.

[LuisPovedaCano]

Thanks for the PR. We currently have a draft PR that also solves this issue. We are trying to test it extensively to make sure it doesn't fail again.

[GoodarzMehr]

Thanks for letting me know. I switched to that branch and, after cleaning and rebuilding the make files, tried to test it using the script above. The issue seemed to persist in Town12 (in particular stop sign bounding boxes were below ground), so is there anything I'm missing (perhaps some change in the content files, or something wrong with the test script)?

[LuisPovedaCano]

Thanks for the report.
I've been testing with the PythonAPI and checking the bounding boxes visually in the editor toggling the collision visualization.
I will check with your script

[LuisPovedaCano]

I've been testing your branch in Town12, Town13 and Town15 and it works.

[GoodarzMehr]

Thanks!