carla_waypoint_publisher package from carla_ros_bridge repocarla_ackermann_control carla_ego_vehicle carla_infrastructure carla_manual_control carla_msgs carla_ros_bridge carla_waypoint_publisher pcl_recorder rqt_carla_control
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- CARLA Simulator Team
Carla Waypoint Publisher
Carla supports waypoint calculations.
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.
As the waypoint publisher requires some Carla PythonAPI functionality that is not part of the python egg-file, you have to extend your PYTHONPATH.
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.
The calculated route is published:
- host [default: localhost]
- port [default: 2000]
- role_name [default: ego_vehicle]