This ros package enables autonomous driving using Autoware in addition to the basic function of the official ros-bridge package (communication between ros and carla)
| ubuntu | ros | carla | autoware |
|---|---|---|---|
| 22.04 | humble | 0.9.13 | universe/master |
- 11th Gen Intel® Core™ i7-11700F @ 2.50GHz × 16
- GeForce RTX3070
- 32GB mem
-
carla-ros-bridge (this repo)
mkdir -p colcon_ws/src cd colcon_ws/src git clone [email protected]:kuriatsu/carla-autoware.git --recursive rosdep install -i --from-paths src
-
- Download maps (y-axis inverted version) to arbitaly location
- Change names. (point_cloud/Town01.pcd -> Town01/pointcloud_map.pcd, vector_maps/lanelet2/Town01.osm -> Town01/lanelet2_map.osm)
-
Change file path at
ros-bridge/carla_spawn_objects/carla_spawn_objects.py L49as shown in first paragraph of Fix Log.
cd colcon_ws
colcon build --symlink-install- Run carla, change map, spawn object if you need
/opt/carla/CarlaUE4.sh
python3 /opt/carla/PythonAPI/util/config.py -m Town10
# optional
python3 /opt/carla/PythonAPI/examples/generate_traffic.py -n 10 -w 20- Run ros nodes
ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py
ros2 launch carla_autoware carla_autoware.xml
ros2 launch autoware_bridge autoware_launch.xml map_path:=<path-to-map-dir>/Town10 vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit- Set initial pose
- Set goal position
- Wait for planning
- Engage (use web interface or Rviz plugin (AutowareStatePanel))
- Need to refine vehicle controller at autoware_bridge/src/carla_vehicle_interface.cpp L82