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Merge pull request #16 from carla-simulator/feature/release_0.9.2_docu
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‎Readme.md‎

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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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![rviz setup](./assets/rviz_carla_default.png "rviz")
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![depthcloud](./assets/depth_cloud_and_lidar.png "depthcloud")
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![short video](https://youtu.be/S_NoN2GBtdY)
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# Features
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- [x] Cameras (depth, segmentation, rgb) support
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- [x] Transform publications
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- [x] Manual control using ackermann msg
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- [x] Handle ros dependencies
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- [x] Marker/bounding box messages for cars/pedestrian
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- [X] Lidar sensor support
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- [ ] Rosbag in the bridge (in order to avoid rosbag record -a small time errors)
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- [ ] 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
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cd ~/ros/catkin_ws_for_carla
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source /opt/ros/kinetic/setup.bash
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catkin_make
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source ~/ros/catkin_ws_for_carla/devel/setup.bash
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For more information about configuring a ros environment see
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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
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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
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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/
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source ~/ros/catkin_ws_for_carla/devel/setup.bash
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rosdep update
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rosdep install --from-paths ~/ros/catkin_ws_for_carla
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cd ~/ros/catkin_ws_for_carla
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catkin_make
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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
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* 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
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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
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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
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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,
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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,
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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,
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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
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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:__
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This documentation is for CARLA versions *newer* than 0.9.1. The CARLA release 0.9.1
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does not work out of the box with the ROS bridge.
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![rviz setup](./assets/rviz_carla_default.png "rviz")
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![depthcloud](./assets/depth_cloud_and_lidar.png "depthcloud")
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![short video](https://youtu.be/S_NoN2GBtdY)
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# Features
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- [x] Cameras (depth, segmentation, rgb) support
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- [x] Transform publications
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- [x] Manual control using ackermann msg
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- [x] Handle ROS dependencies
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- [x] Marker/bounding box messages for cars/pedestrian
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- [x] Lidar sensor support
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- [ ] Rosbag in the bridge (in order to avoid rosbag record -a small time errors)
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- [ ] 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
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cd ~/ros/catkin_ws_for_carla/src
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cp ~/carla_ros_bridge/* .
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source /opt/ros/kinetic/setup.bash
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catkin_make
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source ~/ros/catkin_ws_for_carla/devel/setup.bash
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For more information about configuring a ROS environment see
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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
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the egg-file itself. Please use the one, that is supported by your Python version.
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Depending on the type of CARLA (pre-build, or build from source), the egg files
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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
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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:
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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
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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
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roslaunch carla_ros_bridge client_with_rviz.launch
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You can setup the vehicle configuration config/settings.yaml.
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Then you can make use of the CARLA Python API script manual_control.py.
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This spawns a vehicle with role_name='hero' which is interpreted as the ego
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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.
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Then those vehicles will show up also on ROS side.
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# Test control messages
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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,
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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,
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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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# 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
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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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