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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 2019-11-04
Dev Status MAINTAINED
Released UNRELEASED

Package Description

The carla_waypoint_publisher package

Additional Links

No additional links.

Maintainers

  • CARLA Simulator Team

Authors

No additional authors.

Carla Waypoint Publisher

Carla supports waypoint calculations. The node carla_waypoint_publisher makes this feature available in the ROS context.

It uses the current pose of the ego vehicle with role-name "ego_vehicle" as starting point. If the vehicle is respawned, the route is newly calculated.

Startup

As the waypoint publisher requires some Carla PythonAPI functionality that is not part of the python egg-file, you have to extend your PYTHONPATH.

export PYTHONPATH=$PYTHONPATH:<path-to-carla>/PythonAPI/carla-<carla_version_and_arch>.egg:<path-to-carla>/PythonAPI/carla/

To run it:

roslaunch carla_waypoint_publisher carla_ros_waypoint_publisher.launch

Set a goal

The goal is either read from the ROS topic /carla/<ROLE NAME>/goal, if available, or a fixed spawnpoint is used.

The prefered way of setting a goal is to click '2D Nav Goal' in RVIZ.

set goal

Published waypoints

The calculated route is published:

Topic Type
/carla/<ego vehicle name>/waypoints nav_msgs.Path
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

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_waypoint_publisher at answers.ros.org

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