added additional readme and fixed objects.json

Author: mraditya01

simulator/carla_autoware/README.md

@@ -5,7 +5,7 @@
 Thanks to <https://github.com/gezp> for ROS2 Humble support for CARLA Communication.
 This ros package enables communication between Autoware and CARLA for autonomous driving simulation.
 
-# Environment
+# Supported Environment
 
 | ubuntu |  ros   | carla  | autoware |
 | :----: | :----: | :----: | :------: |
@@ -26,7 +26,7 @@ This ros package enables communication between Autoware and CARLA for autonomous
 2. Change names and create the map folder (example: Town01) inside `autoware_map`. (`point_cloud/Town01.pcd` -> `autoware_map/Town01/pointcloud_map.pcd`, `vector_maps/lanelet2/Town01.osm`-> `autoware_map/Town01/lanelet2_map.osm`)
 3. Create `map_projector_info.yaml` and add `projector_type: local` on the first line.
 
-## build
+## Build
 
 ```bash
 cd colcon_ws
@@ -45,7 +45,7 @@ cd CARLA
 2. Run ros nodes
 
 ```bash
-ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla
+ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01
 ```
 
 3. Set initial pose (Init by GNSS)
@@ -57,3 +57,11 @@ ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_ma
 
 - If you want to edit the sensors configuration used in CARLA, edit `objects.json` located in `carla_autoware/config`. Make sure the sensor configuration is the same as the `sensor_kit` description used in Autoware.
 - Misalignment might occurs during initialization, pressing `init by gnss` button should fix it.
+- Sensor frequency can be changed on `carla_ros.py` Line 67.
+- Changing the `fixed_delta_seconds` can increase the simulation tick (clock), some sensors params in `objects.json` need to be adjusted when it is changed (example: LIDAR rotation frequency have to match the FPS).
+
+# Known Issues and Future Works
+
+- Testing on procedural map (Adv Digital Twin).
+- Automatic sensor configuration of the CARLA sensors from the Autoware sensor kit.
+- Traffic light recognition.

simulator/carla_autoware/config/objects.json

@@ -15,25 +15,6 @@
       "image_size_y": 360,
       "fov": 90.0
     },
-    {
-      "type": "sensor.lidar.ray_cast",
-      "id": "left",
-      "spawn_point": {
-        "x": 0.0,
-        "y": 0.0,
-        "z": 4.6,
-        "roll": 0.0,
-        "pitch": 0.0,
-        "yaw": 0.0
-      },
-      "range": 50,
-      "channels": 32,
-      "points_per_second": 100000,
-      "upper_fov": 3.0,
-      "lower_fov": -27.0,
-      "rotation_frequency": 20,
-      "noise_stddev": 0.0
-    },
     {
       "type": "sensor.lidar.ray_cast",
       "id": "top",

simulator/carla_autoware/launch/carla_autoware.launch.xml

@@ -5,7 +5,7 @@
   <arg name="ego_vehicle_role_name" default="ego_vehicle"/>
   <arg name="vehicle_type" default="vehicle.toyota.prius"/>
   <arg name="spawn_point" default="None"/>
-  <arg name="carla_map_name" default="Town01"/>
+  <arg name="carla_map" default="Town01"/>
   <arg name="passive" default="False"/>
   <arg name="sync_mode" default="True"/>
   <arg name="fixed_delta_seconds" default="0.05" description="Timestep for CARLA, FPS=1/value"/>
@@ -20,7 +20,7 @@
     <param name="timeout" value="$(var timeout)"/>
     <param name="sync_mode" value="$(var sync_mode)"/>
     <param name="fixed_delta_seconds" value="$(var fixed_delta_seconds)"/>
-    <param name="carla_map_name" value="$(var carla_map_name)"/>
+    <param name="carla_map" value="$(var carla_map)"/>
     <param name="ego_vehicle_role_name" value="$(var ego_vehicle_role_name)"/>
     <param name="spawn_point" value="$(var spawn_point)"/>
     <param name="vehicle_type" value="$(var vehicle_type)"/>

simulator/carla_autoware/src/carla_autoware/carla_autoware.py

@@ -66,7 +66,7 @@ def __init__(self):
         self.timeout = self.param_["timeout"]
         self.sync_mode = self.param_["sync_mode"]
         self.fixed_delta_seconds = self.param_["fixed_delta_seconds"]
-        self.map_name = self.param_["carla_map_name"]
+        self.map_name = self.param_["carla_map"]
         self.agent_role_name = self.param_["ego_vehicle_role_name"]
         self.vehicle_type = self.param_["vehicle_type"]
         self.spawn_point = self.param_["spawn_point"]

simulator/carla_autoware/src/carla_autoware/carla_ros.py

@@ -88,7 +88,7 @@ def setup(self):
             "sync_mode": rclpy.Parameter.Type.BOOL,
             "timeout": rclpy.Parameter.Type.INTEGER,
             "fixed_delta_seconds": rclpy.Parameter.Type.DOUBLE,
-            "carla_map_name": rclpy.Parameter.Type.STRING,
+            "carla_map": rclpy.Parameter.Type.STRING,
             "ego_vehicle_role_name": rclpy.Parameter.Type.STRING,
             "spawn_point": rclpy.Parameter.Type.STRING,
             "vehicle_type": rclpy.Parameter.Type.STRING,
@@ -144,7 +144,7 @@ def setup(self):
             self.id_to_sensor_type_map[sensor["id"]] = sensor["type"]
             if sensor["type"] == "sensor.camera.rgb":
                 self.pub_camera = self.ros2_node.create_publisher(
-                    Image, "/perception/traffic_light_recognition/traffic_light/debug/rois", 1
+                    Image, "/sensing/camera/traffic_light/image_raw", 1
                 )
                 self.pub_camera_info = self.ros2_node.create_publisher(
                     CameraInfo, "/sensing/camera/traffic_light/camera_info", 1