guide.adoc

Custom Carla ROS bridge guide

Useful commands

Start CARLA simulator

cd ~/CARLA_0.9.13
./CarlaUE4.sh -prefernvidia

Start ROS bridge

roslaunch carla_ros_bridge carla_ros_bridge.launch
roslaunch carla_spawn_objects carla_spawn_objects.launch
roslaunch carla_manual_control carla_manual_control.launch
#or equivalently
roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch

Start waypoint publisher and AD demo

roslaunch carla_waypoint_publisher carla_waypoint_publisher.launch

Start AD demo with scenario

roslaunch carla_ad_demo carla_ad_demo_with_scenario.launch

Start RViz

<node pkg="rviz" type="rviz" name="rviz" args="-d $(find carla_ad_demo)/config/carla_ad_demo.rviz" required="true" output="screen">
    <remap from="carla/ego_vehicle/spectator_pose" to="/carla/ego_vehicle/rgb_view/control/set_transform"/>
</node>

Start segmentation node

rosrun segmentation segmentation_node.py

Start bev node

rosrun bev ipm_node.py
rosrun bev ipm_node.py --show # to show the image
rosrun bev ipm_node.py --gt # to show the ground truth from carla instead of segmentation node output

• Press 's' to save the image

BEV node resolution

• 7.3 cm/pixel

• 13.6 px/m

Useful topics

sensor topics

• /carla/ego_vehicle/imu: sensor_msgs/Imu

• /carla/ego_vehicle/gnss: sensor_msgs/NavSatFix

• /carla/ego_vehicle/odometry: nav_msgs/Odometry

• /carla/ego_vehicle/camera/rgb/front/image_color: sensor_msgs/Image

• /carla/ego_vehicle/speedometer: std_msgs/Float64

• /carla/ego_vehicle/radar_front: carla_msgs/CarlaRadar

• /carla/ego_vehicle/lidar: sensor_msgs/PointCloud2

• /scan: sensor_msgs/LaserScan, topic I added using pointcloud_to_laserscan package