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CARLA Autoware

ROS2/Autoware.universe bridge for CARLA simulator

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.

Supported Environment

ubuntu ros carla autoware
22.04 humble 0.9.15 2024.04

Setup

install

  1. Download maps (y-axis inverted version) to arbitaly location
  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

cd colcon_ws
colcon build --symlink-install

Run

  1. Run carla, change map, spawn object if you need
cd CARLA
./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen
  1. Run ros nodes
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
  1. Set initial pose (Init by GNSS)
  2. Set goal position
  3. Wait for planning
  4. Engage

Tips

  • 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.