Package Summary

Tags No category tags.
Version 0.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/carla-simulator/ros-bridge.git
VCS Type git
VCS Version master
Last Updated 2019-08-15
Dev Status MAINTAINED
Released UNRELEASED

Package Description

The carla_ego_vehicle package

Additional Links

No additional links.

Maintainers

  • CARLA Simulator Team

Authors

No additional authors.

ROS Ego Vehicle

The reference Carla client carla_ego_vehicle can be used to spawn an ego vehicle (role-name: "ego_vehicle") with attached sensors.

Info: To be able to use carla_manual_control a camera with role-name 'view' and resolution of 800x600 is required.

If no specific position is set, the ego vehicle is spawned at a random position.

Spawning at specific position

It is possible to (re)spawn the ego vehicle at the specific location by publishing to /carla/<ROLE NAME>/initialpose.

The preferred way of doing that is using RVIZ:

Autoware Runtime Manager Settings

Selecting a Pose with '2D Pose Estimate' will delete the current ego_vehicle and respawn it at the specified position.

Create your own sensor setup

Sensors, attached to the ego vehicle can be defined via a json file. carla_ego_vehicle reads it from the file location defined via the private ros parameter sensor_definition_file.

The format is defined like that:

{ "sensors" = [
    {
      "type": "<SENSOR-TYPE>",
      "id": "<NAME>",
      "x": 0.0, "y": 0.0, "z": 0.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0, # pose of the sensor, relative to the vehicle
      <ADDITIONAL-SENSOR-ATTRIBUTES>
    },
    ...
  ]
}

Define sensors with their attributes as described in the Carla Documentation about Cameras and Sensors.

An example is provided by carla_example_ego_vehicle.launch. It uses the sensors from sensors.json

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/carla_example_ego_vehicle.launch
      • host [default: localhost]
      • port [default: 2000]
      • vehicle_filter [default: vehicle.*]
      • sensor_definition_file [default: $(find carla_ego_vehicle)/config/sensors.json]
      • role_name [default: ego_vehicle]
      • spawn_point [default: ]
  • launch/carla_ego_vehicle.launch
      • host [default: localhost]
      • port [default: 2000]
      • vehicle_filter [default: vehicle.*]
      • sensor_definition_file
      • role_name [default: ego_vehicle]
      • spawn_point [default: ]
      • remap_rviz_initialpose_goal [default: True]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_ego_vehicle at answers.ros.org