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carla_autoware_bridge package from carla_autoware_bridge repo

carla_autoware_bridge

Package Summary

Tags No category tags.
Version 0.2.0
License MIT
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robotics010/carla_autoware_bridge.git
VCS Type git
VCS Version master
Last Updated 2023-06-04
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

Convert and transfer messages between carla_ros_bridge and autoware universe

Additional Links

No additional links.

Maintainers

  • Robotics010

Authors

No additional authors.

carla_autoware_bridge

An addition package to carla_ros_bridge to connect CARLA simulator to Autoware Universe software.

Warning! This is still Work in Progress repository. Reports and improvement suggestions are very welcome.

demo

Why carla_autoware_bridge is required?

However there is no official support of the Autoware Universe self-driving open source project from CARLA developers, there is a maintained carla_ros_bridge, which supports communication between CARLA simulator and ROS2 applications. This ROS2 package reuses carla_ros_bridge and adds missing things to support communicating with the Autoware Universe.

Getting started tutorial

Go to Getting started tutorial to setup and launch autoware simulation with CARLA simulator.

Current limitations

  • only galactic support (no humble support yet)
  • sensors’ position/rotation and calibration were not configured properly yet

Frequently asked questions

Is it possible to add humble compatibility?

Currently it isn’t. CARLA developers currently supports up to foxy version and it just works with galactic as well. I’ve asked about humble support as a part of other discussion, but I haven’t got any response yet.

Does the bridge has performance issues especially when using many lidars?

Yes, but you can take advantage of CARLA synchronous mode. By default without the carla-autoware-bridge, CARLA runs in asynchronous mode. The server runs the simulation as fast as possible, without waiting for the client. On synchronous mode, the server waits for a client tick, a “ready to go” message, before updating to the following simulation step. Thus a simulation together with Autoware stack can be tested even not in a performant enough machine.

Can I use docker installation instead?

Yes, you can look at correspoding steps from the autoware tutorials. I didn’t use docker installation because of launching rviz inside galactic docker problem. It looks like humble doesn’t have the same problem.

How can I control the vehicle manually from the keyboard?

You can use manual_control_window from the CARLA ros-bridge. Just press B and then use WASD keys to control ego vehicle. Use Q key to reverse drive.

Troubleshooting

Go to Troubleshooting section in order to fix some known problems.

CHANGELOG

carla_autoware_bridge 0.2

  • use raw_vehicle_converter and accel/brake map
  • acquire accel/brake map for carla.tesla.model3 vehicle
  • reimplement steer map conversion
  • tune control for a vehicle
  • prepare vehicle for auto mode after spawn
  • add steering feedback subscription
  • add carla_launch packages

carla_autoware_bridge 0.1

  • missing converters, that allow carla-autoware communication:
    • imu
    • velocity report
    • steering status
    • control cmd
  • minimal control calibration
  • reuse and remap ros-bridge
  • configuration of lidar position and rotation
  • add getting started tutorial

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.

Package Dependencies

System Dependencies

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_autoware_bridge at Robotics Stack Exchange

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