No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.

autoware_carla_interface package from autoware_universe repo

autoware_adapi_specs autoware_agnocast_wrapper autoware_auto_common autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_gyro_odometer autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_ndt_scan_matcher autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initializer autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_tf_generator autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simple_object_merger autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_mission_planner_universe autoware_obstacle_cruise_planner autoware_obstacle_stop_planner autoware_path_optimizer autoware_path_smoother autoware_planning_validator autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_component_monitor autoware_component_state_monitor autoware_default_adapi autoware_adapi_adaptors autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_processing_time_checker autoware_system_diagnostic_monitor autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

Package Summary

Tags No category tags.
Version 0.43.0
License Apache License 2.0
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The carla autoware bridge package

Additional Links

No additional links.

Maintainers

  • Muhammad Raditya GIOVANNI
  • Maxime CLEMENT

Authors

No additional authors.

autoware_carla_interface

ROS 2 / Autoware Universe bridge for CARLA simulator

Thanks to https://github.com/gezp for ROS 2 Humble support for CARLA Communication. This ros package enables communication between Autoware and CARLA for autonomous driving simulation.

Supported Environment

ubuntu ros carla autoware
22.04 humble 0.9.15 Main

Setup

Install

  1. Download maps (y-axis inverted version) to arbitrary location
  2. Change names and create the map folder (example: Town01) inside autoware_map. (point_cloud/Town01.pcd -> autoware_map/Town01/pointcloud_map.pcd, vector_maps/lanelet2/Town01.osm-> autoware_map/Town01/lanelet2_map.osm)
  3. Create map_projector_info.yaml on the folder and add projector_type: Local on the first line.

Build

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Run

  1. Run carla, change map, spawn object if you need
   cd CARLA
   ./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen
   
  1. Run ros nodes
   ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01
   
  1. Set initial pose (Init by GNSS)
  2. Set goal position
  3. Wait for planning
  4. Engage

Inner-workings / Algorithms

The InitializeInterface class is key to setting up both the CARLA world and the ego vehicle. It fetches configuration parameters through the autoware_carla_interface.launch.xml.

The main simulation loop runs within the carla_ros2_interface class. This loop ticks simulation time inside the CARLA simulator at fixed_delta_seconds time, where data is received and published as ROS 2 messages at frequencies defined in self.sensor_frequencies.

Ego vehicle commands from Autoware are processed through the autoware_raw_vehicle_cmd_converter, which calibrates these commands for CARLA. The calibrated commands are then fed directly into CARLA control via CarlaDataProvider.

Configurable Parameters for World Loading

All the key parameters can be configured in autoware_carla_interface.launch.xml.

Name Type Default Value Description
host string “localhost” Hostname for the CARLA server
port int “2000” Port number for the CARLA server
timeout int 20 Timeout for the CARLA client
ego_vehicle_role_name string “ego_vehicle” Role name for the ego vehicle
vehicle_type string “vehicle.toyota.prius” Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in CARLA Blueprint ID
spawn_point string None Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw]
carla_map string “Town01” Name of the map to load in CARLA
sync_mode bool True Boolean flag to set synchronous mode in CARLA
fixed_delta_seconds double 0.05 Time step for the simulation (related to client FPS)
objects_definition_file string ”$(find-pkg-share autoware_carla_interface)/objects.json” Sensor parameters file that are used for spawning sensor in CARLA
use_traffic_manager bool True Boolean flag to set traffic manager in CARLA
max_real_delta_seconds double 0.05 Parameter to limit the simulation speed below fixed_delta_seconds
config_file string ”$(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml” Control mapping file to be used in autoware_raw_vehicle_cmd_converter. Current control are calibrated based on vehicle.toyota.prius Blueprints ID in CARLA. Changing the vehicle type may need a recalibration.

Configurable Parameters for Sensors

Below parameters can be configured in carla_ros.py.

Name Type Default Value Description
self.sensor_frequencies dict {“top”: 11, “left”: 11, “right”: 11, “camera”: 11, “imu”: 50, “status”: 50, “pose”: 2} (line 67) Calculates the time interval since the last publication and checks if this interval meets the minimum required to not exceed the desired frequency. It will only affect ROS publishing frequency not CARLA sensor tick.
  • CARLA sensor parameters can be configured in config/objects.json.
    • For more details regarding the parameters that can be modified in CARLA are explained in Carla Ref Sensor.

World Loading

The carla_ros.py sets up the CARLA world:

  1. Client Connection:
   client = carla.Client(self.local_host, self.port)
   client.set_timeout(self.timeout)
   
  1. Load the Map:

    Map loaded in CARLA world with map according to carla_map parameter.

   client.load_world(self.map_name)
   self.world = client.get_world()
   
  1. Spawn Ego Vehicle:

    Vehicle are spawn according to vehicle_type, spawn_point, and agent_role_name parameter.

   spawn_point = carla.Transform()
   point_items = self.spawn_point.split(",")
   if len(point_items) == 6:
      spawn_point.location.x = float(point_items[0])
      spawn_point.location.y = float(point_items[1])
      spawn_point.location.z = float(point_items[2]) + 2
      spawn_point.rotation.roll = float(point_items[3])
      spawn_point.rotation.pitch = float(point_items[4])
      spawn_point.rotation.yaw = float(point_items[5])
   CarlaDataProvider.request_new_actor(self.vehicle_type, spawn_point, self.agent_role_name)
   

Traffic Light Recognition

The maps provided by the Carla Simulator (Carla Lanelet2 Maps) currently lack proper traffic light components for Autoware and have different latitude and longitude coordinates compared to the pointcloud map. To enable traffic light recognition, follow the steps below to modify the maps.

  • Options to Modify the Map

  • When using the TIER IV Vector Map Builder, you must convert the PCD format from binary_compressed to ascii. You can use pcl_tools for this conversion.
  • For reference, an example of Town01 with added traffic lights at one intersection can be downloaded here.

Tips

  • Misalignment might occurs during initialization, pressing init by gnss button should fix it.
  • Changing the fixed_delta_seconds can increase the simulation tick (default 0.05 s), some sensors params in objects.json need to be adjusted when it is changed (example: LIDAR rotation frequency have to match the FPS).

Known Issues and Future Works

  • Testing on procedural map (Adv Digital Twin).
    • Currently unable to test it due to failing in the creation of the Adv digital twin map.
  • Automatic sensor configuration of the CARLA sensors from the Autoware sensor kit.
    • Sensor currently not automatically configured to have the same location as the Autoware Sensor kit. The current work around is to create a new frame of each sensors with (0, 0, 0, 0, 0, 0) coordinate relative to base_link and attach each sensor on the new frame (autoware_carla_interface.launch.xml Line 28). This work around is very limited and restrictive, as when the sensor_kit is changed the sensor location will be wrongly attached.
  • Traffic light recognition.
    • Currently the HDmap of CARLA did not have information regarding the traffic light which is necessary for Autoware to conduct traffic light recognition.
CHANGELOG

Changelog for package autoware_carla_interface

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • fix(autoware_carla_interface): fix lidar topic name (#9645)
  • Contributors: Fumiya Watanabe, Maxime CLEMENT

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0
  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • chore(package.xml): bump version to 0.39.0 (#9587)
    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • fix(autoware_carla_interface): include "modules" submodule in release package and update setup.py (#9561)
  • feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (#9392)
  • refactor: correct spelling (#9528)
  • 0.39.0
  • update changelog
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, Jesus Armando Anaya, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • fix(autoware_carla_interface): resolve init file error and colcon marker warning (#9115)
  • fix: removed access to unused ROS_VERSION environment variable. (#8896)
  • ci(pre-commit): autoupdate (#7630)
    • ci(pre-commit): autoupdate
    • style(pre-commit): autofix

    * fix: remove the outer call to dict() ---------Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: mitsudome-r <<ryohsuke.mitsudome@tier4.jp>>

  • feat(carla_autoware): add interface to easily use CARLA with Autoware (#6859) Co-authored-by: Minsu Kim <<minsu@korea.ac.kr>>
  • Contributors: Esteve Fernandez, Giovanni Muhammad Raditya, Jesus Armando Anaya, Yutaka Kondo, awf-autoware-bot[bot]

0.26.0 (2024-04-03)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/autoware_carla_interface.launch.xml
      • host [default: localhost]
      • port [default: 2000]
      • timeout [default: 20]
      • ego_vehicle_role_name [default: ego_vehicle]
      • vehicle_type [default: vehicle.toyota.prius]
      • spawn_point [default: None]
      • carla_map [default: Town01]
      • sync_mode [default: True]
      • fixed_delta_seconds [default: 0.05]
      • objects_definition_file [default: $(find-pkg-share autoware_carla_interface)/objects.json]
      • use_traffic_manager [default: False]
      • max_real_delta_seconds [default: 0.05]
      • input_control_cmd [default: /control/command/control_cmd]
      • input_odometry [default: /localization/kinematic_state]
      • input_steering [default: /vehicle/status/steering_status]
      • output_actuation_cmd [default: /control/command/actuation_cmd]
      • config_file [default: $(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_carla_interface at Robotics Stack Exchange

No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.