ROS index logo ROS Index
  1. Home
  2. Repos
  3. carla-e2e-av-stack
 

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository

aloam_velodyne sc_aloam_velodyne loam_utils vehicle_ctrl carla_msgs lidar_to_grid pcl_conversions pcl_ros perception_pcl

Repository Summary

Description This repository contains the code for an end-to-end autonomous vehicle stack, including perception, planning, and control, built for CARLA.
Checkout URI https://github.com/soumya997/carla-e2e-av-stack.git
VCS Type git
VCS Version main
Last Updated 2025-03-31
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
aloam_velodyne 0.0.0
sc_aloam_velodyne 0.0.0
loam_utils 0.0.0
vehicle_ctrl 0.0.0
carla_msgs 1.3.0
lidar_to_grid 0.0.1
pcl_conversions 2.6.1
pcl_ros 2.6.1
perception_pcl 2.6.1

README

Carla E2E AV Stack

This repository offers a ready-to-use perception and control stack for autonomous vehicles, designed to streamline development and testing in CARLA. With a simple plug-and-play approach, it provides a foundational pipeline for experimenting with perception algorithms and integrating outputs with planning and control, saving time and letting you focus on innovation.


currently its capable of,

  • load any town’s lanelet map
  • spawn and set goal using rviz
  • Use A-LOAM or SC-A-LOAM for odometry.
  • evaluate odometry based on MSE-ATE, and scale error.
  • Waypoint following using PID control.
  • Run in both ROS1 and ROS2
  • EKF sensor fusion of IMU and LiDAR
  • Add Occupancy grid carla E2E AV

Articles:

  • Setup ROS2 with Carla: https://learnopencv.com/ros2-and-carla-setup-guide/
  • About building this project: https://learnopencv.com/pid-controller-ros-2-carla/
  • LiDAR SLAM: https://learnopencv.com/lidar-slam-with-ros2/

A-LOAM and SC-A-LOAM comparison

Below are two separate tables summarizing A-LOAM and SC-A-LOAM performance based on latency and memory.

A-LOAM SC-A-LOAM

A-LOAM

Parameter Value
Odom Rate 20 Hz (/aft_mapped_path)
Map Rate 1 Hz (/laser_cloud_map)
RMS ATE 0.9114 m
Scale Error 0.15%
/alaserMapping 159800 byte (~159.8 KB)
/alaserOdometry 142164 byte (~142.164 KB)
/ascanRegistration 32060 byte (~32.06 KB)

SC-A-LOAM

Parameter Value
Odom Rate 10 Hz (/aft_pgo_path)
Map Update 0.100 Hz (/aft_pgo_map)
Map Node 233.840 kb
Odometry 142.240 kb
PGO 110.800 kb
Scan Registration 32.004 kb
RMS ATE 14 - 20 m
Scale Error 0.37%

Download bagfile

Comparison based on the a fixed trajectory

A-LOAM SC-A-LOAM

Dependency

  • Carla 0.9.11
  • ROS1 noetic and ROS2 humble
  • Ceres Solver , PCL and PCL-conversitions

Run ROS1 code

Run the AV stack without odometry from LOAM in ROS1

build:

$ git clone https://github.com/soumya997/carla-e2e-av-stack.git
$ cd carla-e2e-av-stack/ros1_ws
$ catkin_make
$ source devel/setup.bash

Run the code:

$ $CARLA_ROOT/CarlaUE4.sh -quality-level=Low -prefernvidia -nosound

$ cd /home/opencvuniv/carla-ros-bridge/catkin_ws && source devel/setup.bash
$ roslaunch carla_ros_bridge carla_ros_bridge.launch synchronous_mode:=True town:=Town01

$ cd /home/opencvuniv/carla-ros-bridge/catkin_ws && source devel/setup.bash
$ roslaunch carla_spawn_objects carla_example_ego_vehicle.launch spawn_sensors_only:=False objects_definition_file:=/home/opencvuniv/Work/somusan/robotics/nice_e2e_carla_av/trash/carla_e2e_ws/src/vehicle_ctrl/maps/objects.json

$ cd /home/opencvuniv/carla-ros-bridge/catkin_ws && source devel/setup.bash
$ roslaunch carla_waypoint_publisher carla_waypoint_publisher.launch

$ cd /home/opencvuniv/Work/somusan/robotics/nice_e2e_carla_av/trash/carla_e2e_ws && source devel/setup.bash
$ roslaunch vehicle_ctrl run_vehicle.launch

use the `2D Pose Estimate` to spawn a vehicle and `2D Nav Goal` to give the goal.
now, the car should be start running

Run with A-LOAM/SC-A-LOAM Odometry

  1. uncomment code under # Subscriber to the LOAM odometry topic, and comment out the code under # Subscriber to the /carla/ego_vehicle/odometry topic.
  2. run A-LOAM code using the below code,
$ roslaunch aloam_velodyne aloam_velodyne_VLP_16_v2.launch lidar_topic:=/carla/ego_vehicle/lidar
$ python src/loam_utils/scripts/static_trf_broadcast.py
$ python src/loam_utils/scripts/aloam_odom_trf.py
  1. run A-LOAM code using the below code,
$ roslaunch aloam_velodyne aloam_mulran.launch
$ python src/loam_utils/scripts/static_trf_broadcast.py
$ python src/loam_utils/scripts/aloam_odom_trf.py

Run ROS2 code

Run the AV stack without odometry from LOAM in ROS1. LOAM dont have ROS2 support, so uncomment the code under # Subscriber to the /carla/ego_vehicle/odometry topic and comment the code under # Subscriber to the LOAM odometry topic.

# in a new terminal, run carla first
# ./CarlaUE4.sh  # or ./CarlaUE4.sh -prefernvidia # $ ~/carla_simulator/PythonAPI/util/config.py --map Town01
$CARLA_ROOT/CarlaUE4.sh -quality-level=Low -prefernvidia -nosound
 
# in a new terminal, get inside the `carla-ros-bridge/colcon_ws` folder and source the workspace; launch the `carla ros-bridge`
cd ~/carla-ros-bridge/colcon_ws && source install/setup.bash
ros2 launch carla_ros_bridge carla_ros_bridge.launch.py synchronous_mode:=True town:=Town01 # <town number, eg: 03>
 
 
# in a new terminal, launch the objects.json; launch ros-bridge
# cd ~/carla-ros-bridge/colcon_ws
cd ~/carla-ros-bridge/colcon_ws && source install/setup.bash
 
ros2 launch carla_spawn_objects carla_example_ego_vehicle.launch.py spawn_sensors_only:=False objects_definition_file:=<absolute path to>/src/vehicle_ctrl/vehicle_ctrl/config/objects.json
 
 
# load the town1 lanelet map
python src/vehicle_ctrl/vehicle_ctrl/lanelet_map.py
 
 
# in new terminal, launch the rviz2 [set the global frame to map in rviz2]
rviz2 -d /src/vehicle_ctrl/rviz2/carla_map_spawn_anywherev2.rviz
 
 
# in a new terminal, get inside the `carla-ros-bridge/colcon_ws` folder and source the workspace; waypoint publisher 
cd ~/carla-ros-bridge/colcon_ws && source install/setup.bash
ros2 launch carla_waypoint_publisher carla_waypoint_publisher.launch.py
 
 
# goal remap
python src/vehicle_ctrl/vehicle_ctrl/remap_goal.py 
 
 
# waypoint following using carls ros-bridge
python src/vehicle_ctrl/vehicle_ctrl/simple_ctrl.py

Trouble shoot

  • if getting issue builing the packages, something like
$ colcon build --packages-select pcl_ros
Starting >>> pcl_ros 
--- stderr: pcl_ros                         
CMake Error at CMakeLists.txt:13 (find_package):
  By not providing "FindPCL.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "PCL", but
  CMake did not find one.

  Could not find a package configuration file provided by "PCL" with any of
  the following names:

    PCLConfig.cmake
    pcl-config.cmake

  Add the installation prefix of "PCL" to CMAKE_PREFIX_PATH or set "PCL_DIR"
  to a directory containing one of the above files.  If "PCL" provides a
  separate development package or SDK, be sure it has been installed.

Solution:

- locate PCLConfig.cmake
- $ export PCL_DIR=<path from above command> #/home/somusan/miniconda3/envs/gaussian_splattingv1/share/pcl-1.14
- $ colcon build --packages-select pcl_conversions
- colcon build --packages-select pcl_ros
  • issue in running lidar_to_grid_node
$ ros2 run lidar_to_grid lidar_to_grid_node
/home/somusan/dev-somusan/trash/carla-e2e-av-stack/ros2_ws/install/lidar_to_grid/lib/lidar_to_grid/lidar_to_grid_node: error while loading shared libraries: libpcl_common.so.1.14: cannot open shared object file: No such file or directory
[ros2run]: Process exited with failure 127
somusan@somusan:~/.../carla-e2e-av-stack/ros2_ws
$ locate libpcl_common.so
/home/somusan/miniconda3/envs/gaussian_splattingv1/lib/libpcl_common.so
/home/somusan/miniconda3/envs/gaussian_splattingv1/lib/libpcl_common.so.1.14
/home/somusan/miniconda3/envs/gaussian_splattingv1/lib/libpcl_common.so.1.14.1
/home/somusan/miniconda3/pkgs/pcl-1.14.1-h679aaff_7/lib/libpcl_common.so
/home/somusan/miniconda3/pkgs/pcl-1.14.1-h679aaff_7/lib/libpcl_common.so.1.14
/home/somusan/miniconda3/pkgs/pcl-1.14.1-h679aaff_7/lib/libpcl_common.so.1.14.1
/snap/cloudcompare/208/usr/lib/x86_64-linux-gnu/libpcl_common.so.1.8
/snap/cloudcompare/208/usr/lib/x86_64-linux-gnu/libpcl_common.so.1.8.1
/usr/lib/x86_64-linux-gnu/libpcl_common.so.1.12
/usr/lib/x86_64-linux-gnu/libpcl_common.so.1.12.1
somusan@somusan:~/.../carla-e2e-av-stack/ros2_ws
$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/somusan/miniconda3/envs/gaussian_splattingv1/lib/
somusan@somusan:~/.../carla-e2e-av-stack/ros2_ws
$ ros2 run lidar_to_grid lidar_to_grid_node
[INFO] [1743370182.039492340] [lidar_to_grid_node]: LidarToGridNode initialized
^C[INFO] [1743370196.641993804] [rclcpp]: signal_handler(signum=2)

PS: contributions are welcomes.

CONTRIBUTING

No CONTRIBUTING.md found.

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository

carla-e2e-av-stack repository