Bidirectional communication bridge between CARLA simulation and ROS ecosystems
Important
This repository is a fork of the official CARLA ros-bridge. All initial and following modifications to the original repository are documented in CHANGELOG_OPENADS.md.
Important
This repository is part of OpenADS, the Open Automated Driving Systems project. OpenADS and its modules have been initiated and are currently being maintained by the Institute for Automotive Engineering (ika) at RWTH Aachen University.
Tip
We recommend to use the carla-ros-bridge as communication actor in our open, modular and scalable simulation framework OpenADSim.
This ROS package is a bridge that enables two-way communication between ROS and CARLA. The information from the CARLA server is translated to ROS topics. In the same way, the messages sent between nodes in ROS get translated to commands to be applied in CARLA.
This version requires CARLA 0.9.16
- Provide Sensor Data (Lidar, Semantic lidar, Cameras (depth, segmentation, rgb, dvs), GNSS, Radar, IMU)
- Provide Object Data (Transforms (via tf), Traffic light status, Visualization markers, Collision, Lane invasion)
- Control AD Agents (Steer/Throttle/Brake)
- Control CARLA (Play/pause simulation, Set simulation parameters)
Installation instructions and further documentation of the ROS bridge and additional packages are found here.