From f60c57281cabfe02feba0e4547f09df0c294f3b3 Mon Sep 17 00:00:00 2001 From: fpasch <46815108+fpasch@users.noreply.github.com> Date: Tue, 24 Mar 2020 10:38:59 +0100 Subject: [PATCH] Update changelog for 0.9.8 tag (#249) --- CHANGELOG.md | 2 ++ README.md | 56 ++++++++++++++++++++++++---------------------------- 2 files changed, 28 insertions(+), 30 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 79d65801..448e01c5 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,7 @@ ## Latest changed +## CARLA-ROS-Bridge 0.9.8 + * change Lidar range in meters * add new attributes for Gnss and Camera sensor * add IMU and Radar sensor diff --git a/README.md b/README.md index 49259054..761daa6a 100644 --- a/README.md +++ b/README.md @@ -2,30 +2,40 @@ This ROS package aims at providing a simple ROS bridge for CARLA simulator. -**Important Note:** -This documentation is for CARLA versions _newer_ than 0.9.4. - ![rviz setup](./docs/images/rviz_carla_default.png "rviz") -![depthcloud](./docs/images/depth_cloud_and_lidar.png "depthcloud") - -![short video](https://youtu.be/S_NoN2GBtdY) ## 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 -- [x] Support CARLA synchronous mode -- [ ] Add traffic light support +- Provide Sensor Data (Lidar, Cameras (depth, segmentation, rgb), GNSS, Radar, IMU) +- Provide Object Data (Transforms (via [tf](http://wiki.ros.org/tf)), Traffic light status, Visualization markers, Collision, Lane invasion) +- Control AD Agents (Steer/Throttle/Brake) +- Control CARLA (Support synchronous mode, Play/pause simulation, Set simulation parameters) + +### Additional Functionality + +Beside the bridging functionality, there are many more features provided in separate packages. + +| Name | Description | +| --------------------------------- | ------------------------------------------------------------------------------------------------------- | +| [Carla Ego Vehicle](carla_ego_vehicle/README.md) | Provides a generic way to spawn an ego vehicle and attach sensors to it. | +| [Carla Manual Control](carla_manual_control/README.md) | A ROS-based visualization and control tool for an ego vehicle (similar to carla_manual_control.py provided by CARLA) | +| [Carla Infrastructure](carla_infrastructure/README.md) | Provides a generic way to spawn a set of infrastructure sensors defined in a config file. | +| [Carla Waypoint Publisher](carla_waypoint_publisher/README.md) | Provide routes and access to the Carla waypoint API | +| [Carla ROS Scenario Runner](carla_ros_scenario_runner/README.md) | ROS node that wraps the functionality of the CARLA [scenario runner](https://github.com/carla-simulator/scenario_runner) to execute scenarios. | +| [Carla Ackermann Control](carla_ackermann_control/README.md) | A controller to convert ackermann commands to steer/throttle/brake| +| [Carla AD Agent](carla_ad_agent/README.md) | A basic AD agent, that follows a route, avoids collisions with other vehicles and stops on red traffic lights. | +| [RVIZ Carla Plugin](rviz_carla_plugin/README.md) | A [RVIZ](http://wiki.ros.org/rviz) plugin to visualize/control CARLA. | +| [RQT Carla Plugin](rqt_carla_plugin/README.md) | A [RQT](http://wiki.ros.org/rqt) plugin to control CARLA. | + +For a quick overview, after following the [Setup section](#setup), please run the [CARLA AD Demo](carla_ad_demo/README.md). It provides a ready-to-use demonstrator of many of the features. + ## Setup -### For User +### For Users + +First add the apt repository: - First add the apt repository: ##### For ROS Melodic Users sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 81061A1A042F527D && sudo add-apt-repository "deb [trusted=yes] http://dist.carla.org/carla-ros-bridge-melodic/ bionic main" @@ -292,20 +302,6 @@ The following markers are supported in 'map'-frame: | ---------------------------------- | ------------------------------------------------------------------------------------------------------ | --------------------------- | | `/carla/debug_marker` (subscriber) | [visualization_msgs.MarkerArray](http://docs.ros.org/api/visualization_msgs/html/msg/MarkerArray.html) | draw markers in CARLA world | - -## Additional Functionality - -| Name | Description | -| --------------------------------- | ------------------------------------------------------------------------------------------------------- | -| [Carla Ego Vehicle](carla_ego_vehicle/README.md) | Provides a generic way to spawn an ego vehicle and attach sensors to it. | -| [Carla Infrastructure](carla_infrastructure/README.md) | Provides a generic way to spawn a set of infrastructure sensors defined in a config file. | -| [Carla Waypoint Publisher](carla_waypoint_publisher/README.md) | Provide routes and access to the Carla waypoint API | -| [Carla ROS Scenario Runner](carla_ros_scenario_runner/README.md) | ROS node that wraps the functionality of the CARLA [scenario runner](https://github.com/carla-simulator/scenario_runner) to execute scenarios. | -| [Carla AD Agent](carla_ad_agent/README.md) | A basic AD agent, that can follow a route and avoid collisions with other vehicles and stop on red traffic lights. | -| [Carla AD Demo](carla_ad_demo/README.md) | A meta package that provides everything to launch a CARLA ROS environment with an AD vehicle. | -| [RVIZ Carla Plugin](rviz_carla_plugin/README.md) | A [RVIZ](http://wiki.ros.org/rviz) plugin to visualize/control CARLA. | -| [RQT Carla Plugin](rqt_carla_plugin/README.md) | A [RQT](http://wiki.ros.org/rqt) plugin to control CARLA. | - ## Troubleshooting ### ImportError: No module named carla