ROS bridge for CARLA simulator

This ROS package aims at providing a simple ROS bridge for CARLA simulator.

Important Note: This documentation is for CARLA versions newer than 0.9.4.

Features

• Cameras (depth, segmentation, rgb) support
• Transform publications
• Manual control using ackermann msg
• Handle ROS dependencies
• Marker/bounding box messages for cars/pedestrian
• Lidar sensor support
• Support CARLA synchronous mode
• Add traffic light support

Setup

Create a catkin workspace and install carla_ros_bridge package

#setup folder structure
mkdir -p ~/carla-ros-bridge/catkin_ws/src
cd ~/carla-ros-bridge
git clone https://github.com/carla-simulator/ros-bridge.git
cd catkin_ws/src
ln -s ../../ros-bridge
source /opt/ros/kinetic/setup.bash
cd ..

#install required ros-dependencies
rosdep update
rosdep install --from-paths src --ignore-src -r

#build
catkin_make

For more information about configuring a ROS environment see http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

Start the ROS bridge

First run the simulator (see carla documentation: http://carla.readthedocs.io/en/latest/)

./CarlaUE4.sh -windowed -ResX=320 -ResY=240

Wait for the message:

Waiting for the client to connect...

Then start the ros bridge (choose one option):

export PYTHONPATH=$PYTHONPATH:<path/to/carla/>/PythonAPI/<your_egg_file>
source ~/carla-ros-bridge/catkin_ws/devel/setup.bash

# Option 1: start the ros bridge
roslaunch carla_ros_bridge carla_ros_bridge.launch

# Option 2: start the ros bridge together with RVIZ
roslaunch carla_ros_bridge carla_ros_bridge_with_rviz.launch

# Option 3: start the ros bridge together with an example ego vehicle
roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch

Settings

You can setup the ros bridge configuration carla_ros_bridge/config/settings.yaml.

If the rolename is within the list specified by ROS parameter /carla/ego_vehicle/rolename, the client is interpreted as an controllable ego vehicle and all relevant ROS topics are created.

Mode

Default Mode

In default mode (synchronous_mode: false) data is published:

• on every world.on_tick() callback
• on every sensor.listen() callback

Synchronous Mode

CAUTION: In synchronous mode, only the ros-bridge is allowed to tick. Other CARLA clients must passively wait.

In synchronous mode (synchronous_mode: true), the bridge waits for all sensor data that is expected within the current frame. This might slow down the overall simulation but ensures reproducible results.

Additionally you might set synchronous_mode_wait_for_vehicle_control_command to true to wait for a vehicle control command before executing the next tick.

Control Synchronous Mode

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