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| # Ros bridge for Carla simulator | ||
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| This ros package aims at providing a simple ros bridge for carla simulator. | ||
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| # Features | ||
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| - [x] Cameras (depth, segmentation, rgb) support | ||
| - [x] Transform publications | ||
| - [x] Manual control using ackermann msg | ||
| - [x] Handle ros dependencies | ||
| - [x] Marker/bounding box messages for cars/pedestrian | ||
| - [X] Lidar sensor support | ||
| - [ ] Rosbag in the bridge (in order to avoid rosbag record -a small time errors) | ||
| - [ ] Add traffic light support | ||
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| # Setup | ||
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| ## Create a catkin workspace and install carla_ros_bridge package | ||
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| ### Create the catkin workspace: | ||
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| mkdir -p ~/ros/catkin_ws_for_carla/src | ||
| cd ~/ros/catkin_ws_for_carla | ||
| source /opt/ros/kinetic/setup.bash | ||
| catkin_make | ||
| source ~/ros/catkin_ws_for_carla/devel/setup.bash | ||
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| For more information about configuring a ros environment see | ||
| http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment | ||
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| ## Install carla python client API in your workspace | ||
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| cd carla/PythonAPI | ||
| pip2 install -e . --user --upgrade | ||
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| Check the installation is successfull by trying to import carla from python: | ||
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| python -c 'import carla;print("Success")' | ||
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| You should see the Success message without any errors. | ||
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| ### Install recent protobuf version [optional] | ||
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| sudo apt-get remove python-protobuf | ||
| sudo pip2 install --upgrade protobuf | ||
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| ### Add the carla_ros_bridge in the catkin workspace | ||
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| Run the following command after replacing [PATH_TO_ROS_BRIDGE] with the actual path to carla ros bridge directory on your machine: | ||
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| ln -s [PATH_TO_ROS_BRIDGE]/carla_ros_bridge/ ~/ros/catkin_ws_for_carla/src/ | ||
| source ~/ros/catkin_ws_for_carla/devel/setup.bash | ||
| rosdep update | ||
| rosdep install --from-paths ~/ros/catkin_ws_for_carla | ||
| cd ~/ros/catkin_ws_for_carla | ||
| catkin_make | ||
| source ~/ros/catkin_ws_for_carla/devel/setup.bash | ||
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| ### Test your installation (section outdated) | ||
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| If you use the builded binary (0.9.1): | ||
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| ./CarlaUE4.sh -carla-server -windowed -ResX=320 -ResY=240 | ||
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| Wait for the message: | ||
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| Waiting for the client to connect... | ||
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| Then run the tests | ||
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| rostest carla_ros_bridge ros_bridge_client.test | ||
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| you should see: | ||
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| [carla_ros_bridge.rosunit-testTopics/test_publish][passed] | ||
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| SUMMARY | ||
| * RESULT: SUCCESS | ||
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| # Start the ros bridge | ||
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| First run the simulator (see carla documentation: http://carla.readthedocs.io/en/latest/) | ||
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| ./CarlaUE4 -carla-server -windowed -ResX=320 -ResY=240 | ||
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| Wait for the message: | ||
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| Waiting for the client to connect... | ||
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| Then start the ros bridge: | ||
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| source ~/ros/catkin_ws_for_carla/devel/setup.bash | ||
| roslaunch carla_ros_bridge client.launch | ||
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| To start the ros bridge with rviz use: | ||
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| roslaunch carla_ros_bridge client_with_rviz.launch | ||
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| You can setup the vehicle wanted to used as ego vehicle in config/settings.yaml. | ||
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| Then you can make use of the CARLA python API scripts manual_control.py. This spawns a vehicle with role_name='hero' which is interpreted | ||
| as the ego vehicle as defined by the config/settings.yaml. | ||
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| You can then further spawn other vehicles using spawn_npc.py from CARLA python API. Then those vehicles will show up also on ROS side. | ||
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| # Test control messages | ||
| You can send command to the car using the /carla/ego_vehicle/ackermann_cmd topic. | ||
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| Example of forward movements, speed in in meters/sec. | ||
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| rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, | ||
| jerk: 0.0}" -r 10 | ||
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| Example of forward with steering | ||
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| rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 5.41, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, | ||
| jerk: 0.0}" -r 10 | ||
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| Warning: the steering_angle is the driving angle (in radians) not the wheel angle, for now max wheel is set to 500 degrees. | ||
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| Example for backward : | ||
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| rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0, steering_angle_velocity: 0.0, speed: -10, acceleration: 0.0, | ||
| jerk: 0.0}" -r 10 | ||
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| # Test sensor messages | ||
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| ## Object information | ||
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| ### Ego vehicle | ||
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| The ego vehicle status is provided via the topic /carla/ego_vehicle/odometry (nav_msgs.Odometry) | ||
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| ### Other vehicles | ||
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| The other vehicles data is provided via the 'ideal' object list /carla/objects (derived_object_msgs.ObjectArray) | ||
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| ## Map information | ||
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| The OPEN Drive map description is published via /map topic (std_msgs.String) | ||
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| ## Sensor information | ||
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| ### Ego vehicle | ||
| The ego Vehicle sensors are provided via topics with prefix /carla/ego_vehicle/<sensor_topic> | ||
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| # ROSBAG recording (not yet tested) | ||
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| The carla_ros_bridge could also be used to record all published topics into a rosbag: | ||
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| roslaunch carla_ros_bridge client_with_rviz.launch rosbag_fname:=/tmp/save_session.bag | ||
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| This command will create a rosbag /tmp/save_session.bag | ||
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| You can of course also use rosbag record to do the same, but using the ros_bridge to do the recording you have the guarentee that all the message are saved without small desynchronization that could occurs when using *rosbag record* in an other process. | ||
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| # ROS bridge for CARLA simulator | ||
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| This ROS package aims at providing a simple ROS bridge for CARLA simulator. | ||
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| __Important Note:__ | ||
| This documentation is for CARLA versions *newer* than 0.9.1. The CARLA release 0.9.1 | ||
| does not work out of the box with the ROS bridge. | ||
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|  | ||
|  | ||
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|  | ||
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| # Features | ||
|
|
||
| - [x] Cameras (depth, segmentation, rgb) support | ||
| - [x] Transform publications | ||
| - [x] Manual control using ackermann msg | ||
| - [x] Handle ROS dependencies | ||
| - [x] Marker/bounding box messages for cars/pedestrian | ||
| - [x] Lidar sensor support | ||
| - [ ] Rosbag in the bridge (in order to avoid rosbag record -a small time errors) | ||
| - [ ] Add traffic light support | ||
|
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| # Setup | ||
|
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| ## Create a catkin workspace and install carla_ros_bridge package | ||
|
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| First, clone or download the carla_ros_bridge, for example into | ||
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| ~/carla_ros_bridge | ||
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| ### Create the catkin workspace: | ||
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| mkdir -p ~/ros/catkin_ws_for_carla/src | ||
| cd ~/ros/catkin_ws_for_carla/src | ||
| cp ~/carla_ros_bridge/* . | ||
| source /opt/ros/kinetic/setup.bash | ||
| catkin_make | ||
| source ~/ros/catkin_ws_for_carla/devel/setup.bash | ||
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| For more information about configuring a ROS environment see | ||
| http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment | ||
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| ## Install the CARLA Python API | ||
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| export PYTHONPATH=$PYTHONPATH:<path/to/carla/>/PythonAPI/<your_egg_file> | ||
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| Please note that you have to put in the complete path to the egg-file including | ||
| the egg-file itself. Please use the one, that is supported by your Python version. | ||
| Depending on the type of CARLA (pre-build, or build from source), the egg files | ||
| are typically located either directly in the PythonAPI folder or in PythonAPI/dist. | ||
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| Check the installation is successfull by trying to import carla from python: | ||
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| python -c 'import carla;print("Success")' | ||
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| You should see the Success message without any errors. | ||
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| ## Install other requirements: | ||
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| sudo apt-get install python-protobuf | ||
| pip install --user simple-pid | ||
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| # Start the ROS bridge | ||
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| First run the simulator (see carla documentation: http://carla.readthedocs.io/en/latest/) | ||
|
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| ./CarlaUE4 -carla-server -windowed -ResX=320 -ResY=240 | ||
|
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||
|
|
||
| Wait for the message: | ||
|
|
||
| Waiting for the client to connect... | ||
|
|
||
| Then start the ros bridge: | ||
|
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| source ~/ros/catkin_ws_for_carla/devel/setup.bash | ||
| roslaunch carla_ros_bridge client.launch | ||
|
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| To start the ros bridge with rviz use: | ||
|
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| source ~/ros/catkin_ws_for_carla/devel/setup.bash | ||
| roslaunch carla_ros_bridge client_with_rviz.launch | ||
|
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| You can setup the vehicle configuration config/settings.yaml. | ||
|
|
||
| Then you can make use of the CARLA Python API script manual_control.py. | ||
| This spawns a vehicle with role_name='hero' which is interpreted as the ego | ||
| vehicle as defined by the config/settings.yaml. | ||
|
|
||
| You can then further spawn other vehicles using spawn_npc.py from CARLA Python API. | ||
| Then those vehicles will show up also on ROS side. | ||
|
|
||
| # Test control messages | ||
| You can send command to the car using the /carla/ego_vehicle/ackermann_cmd topic. | ||
|
|
||
| Example of forward movements, speed in in meters/sec. | ||
|
|
||
| rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, | ||
| jerk: 0.0}" -r 10 | ||
|
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||
|
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| Example of forward with steering | ||
|
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| rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 5.41, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0, | ||
| jerk: 0.0}" -r 10 | ||
|
|
||
| Warning: the steering_angle is the driving angle (in radians) not the wheel angle, for now max wheel is set to 500 degrees. | ||
|
|
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| # Test sensor messages | ||
|
|
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| ## Object information | ||
|
|
||
| ### Ego vehicle | ||
|
|
||
| The ego vehicle status is provided via the topic /carla/ego_vehicle/odometry (nav_msgs.Odometry) | ||
|
|
||
| ### Other vehicles | ||
|
|
||
| The other vehicles data is provided via the 'ideal' object list /carla/objects (derived_object_msgs.ObjectArray) | ||
|
|
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| ## Map information | ||
|
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||
| The OPEN Drive map description is published via /map topic (std_msgs.String) | ||
|
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| ## Sensor information | ||
|
|
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| ### Ego vehicle | ||
| The ego Vehicle sensors are provided via topics with prefix /carla/ego_vehicle/<sensor_topic> | ||
|
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|
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| # ROSBAG recording (not yet tested) | ||
|
|
||
| The carla_ros_bridge could also be used to record all published topics into a rosbag: | ||
|
|
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| roslaunch carla_ros_bridge client_with_rviz.launch rosbag_fname:=/tmp/save_session.bag | ||
|
|
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| This command will create a rosbag /tmp/save_session.bag | ||
|
|
||
| You can of course also use rosbag record to do the same, but using the ros_bridge to do the recording you have the guarentee that all the message are saved without small desynchronization that could occurs when using *rosbag record* in an other process. |