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# Ros bridge for Carla simulator

This ros package aims at providing a simple ros bridge for carla simulator.

![rviz setup](./assets/rviz_carla_default.png "rviz")
![depthcloud](./assets/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
- [ ] Rosbag in the bridge (in order to avoid rosbag record -a small time errors)
- [ ] Add traffic light support

# Setup

## Create a catkin workspace and install carla_ros_bridge package

### Create the catkin workspace:

mkdir -p ~/ros/catkin_ws_for_carla/src
cd ~/ros/catkin_ws_for_carla
source /opt/ros/kinetic/setup.bash
catkin_make
source ~/ros/catkin_ws_for_carla/devel/setup.bash

For more information about configuring a ros environment see
http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

## Install carla python client API in your workspace

cd carla/PythonAPI
pip2 install -e . --user --upgrade

Check the installation is successfull by trying to import carla from python:

python -c 'import carla;print("Success")'

You should see the Success message without any errors.

### Install recent protobuf version [optional]

sudo apt-get remove python-protobuf
sudo pip2 install --upgrade protobuf


### Add the carla_ros_bridge in the catkin workspace

Run the following command after replacing [PATH_TO_ROS_BRIDGE] with the actual path to carla ros bridge directory on your machine:

ln -s [PATH_TO_ROS_BRIDGE]/carla_ros_bridge/ ~/ros/catkin_ws_for_carla/src/
source ~/ros/catkin_ws_for_carla/devel/setup.bash
rosdep update
rosdep install --from-paths ~/ros/catkin_ws_for_carla
cd ~/ros/catkin_ws_for_carla
catkin_make
source ~/ros/catkin_ws_for_carla/devel/setup.bash


### Test your installation (section outdated)

If you use the builded binary (0.9.1):

./CarlaUE4.sh -carla-server -windowed -ResX=320 -ResY=240


Wait for the message:

Waiting for the client to connect...

Then run the tests

rostest carla_ros_bridge ros_bridge_client.test

you should see:

[carla_ros_bridge.rosunit-testTopics/test_publish][passed]

SUMMARY
* RESULT: SUCCESS



# Start the ros bridge

First run the simulator (see carla documentation: http://carla.readthedocs.io/en/latest/)

./CarlaUE4 -carla-server -windowed -ResX=320 -ResY=240


Wait for the message:

Waiting for the client to connect...

Then start the ros bridge:

source ~/ros/catkin_ws_for_carla/devel/setup.bash
roslaunch carla_ros_bridge client.launch

To start the ros bridge with rviz use:

roslaunch carla_ros_bridge client_with_rviz.launch

You can setup the vehicle wanted to used as ego vehicle in config/settings.yaml.

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
as the ego vehicle as defined by the config/settings.yaml.

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.

# Test control messages
You can send command to the car using the /carla/ego_vehicle/ackermann_cmd topic.

Example of forward movements, speed in in meters/sec.

rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0,
jerk: 0.0}" -r 10


Example of forward with steering

rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 5.41, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0,
jerk: 0.0}" -r 10

Warning: the steering_angle is the driving angle (in radians) not the wheel angle, for now max wheel is set to 500 degrees.


Example for backward :

rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0, steering_angle_velocity: 0.0, speed: -10, acceleration: 0.0,
jerk: 0.0}" -r 10

# Test sensor messages

## Object information

### Ego vehicle

The ego vehicle status is provided via the topic /carla/ego_vehicle/odometry (nav_msgs.Odometry)

### Other vehicles

The other vehicles data is provided via the 'ideal' object list /carla/objects (derived_object_msgs.ObjectArray)

## Map information

The OPEN Drive map description is published via /map topic (std_msgs.String)

## Sensor information

### Ego vehicle
The ego Vehicle sensors are provided via topics with prefix /carla/ego_vehicle/<sensor_topic>


# ROSBAG recording (not yet tested)

The carla_ros_bridge could also be used to record all published topics into a rosbag:

roslaunch carla_ros_bridge client_with_rviz.launch rosbag_fname:=/tmp/save_session.bag

This command will create a rosbag /tmp/save_session.bag

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.



# ROS bridge for CARLA simulator

This ROS package aims at providing a simple ROS bridge for CARLA simulator.

__Important Note:__
This documentation is for CARLA versions *newer* than 0.9.1. The CARLA release 0.9.1
does not work out of the box with the ROS bridge.

![rviz setup](./assets/rviz_carla_default.png "rviz")
![depthcloud](./assets/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
- [ ] Rosbag in the bridge (in order to avoid rosbag record -a small time errors)
- [ ] Add traffic light support

# Setup

## Create a catkin workspace and install carla_ros_bridge package

First, clone or download the carla_ros_bridge, for example into

~/carla_ros_bridge

### Create the catkin workspace:

mkdir -p ~/ros/catkin_ws_for_carla/src
cd ~/ros/catkin_ws_for_carla/src
cp ~/carla_ros_bridge/* .
source /opt/ros/kinetic/setup.bash
catkin_make
source ~/ros/catkin_ws_for_carla/devel/setup.bash

For more information about configuring a ROS environment see
http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

## Install the CARLA Python API

export PYTHONPATH=$PYTHONPATH:<path/to/carla/>/PythonAPI/<your_egg_file>

Please note that you have to put in the complete path to the egg-file including
the egg-file itself. Please use the one, that is supported by your Python version.
Depending on the type of CARLA (pre-build, or build from source), the egg files
are typically located either directly in the PythonAPI folder or in PythonAPI/dist.

Check the installation is successfull by trying to import carla from python:

python -c 'import carla;print("Success")'

You should see the Success message without any errors.

## Install other requirements:

sudo apt-get install python-protobuf
pip install --user simple-pid


# Start the ROS bridge

First run the simulator (see carla documentation: http://carla.readthedocs.io/en/latest/)

./CarlaUE4 -carla-server -windowed -ResX=320 -ResY=240


Wait for the message:

Waiting for the client to connect...

Then start the ros bridge:

source ~/ros/catkin_ws_for_carla/devel/setup.bash
roslaunch carla_ros_bridge client.launch

To start the ros bridge with rviz use:

source ~/ros/catkin_ws_for_carla/devel/setup.bash
roslaunch carla_ros_bridge client_with_rviz.launch

You can setup the vehicle configuration config/settings.yaml.

Then you can make use of the CARLA Python API script manual_control.py.
This spawns a vehicle with role_name='hero' which is interpreted as the ego
vehicle as defined by the config/settings.yaml.

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.

# Test control messages
You can send command to the car using the /carla/ego_vehicle/ackermann_cmd topic.

Example of forward movements, speed in in meters/sec.

rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0,
jerk: 0.0}" -r 10


Example of forward with steering

rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 5.41, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0,
jerk: 0.0}" -r 10

Warning: the steering_angle is the driving angle (in radians) not the wheel angle, for now max wheel is set to 500 degrees.

# Test sensor messages

## Object information

### Ego vehicle

The ego vehicle status is provided via the topic /carla/ego_vehicle/odometry (nav_msgs.Odometry)

### Other vehicles

The other vehicles data is provided via the 'ideal' object list /carla/objects (derived_object_msgs.ObjectArray)

## Map information

The OPEN Drive map description is published via /map topic (std_msgs.String)

## Sensor information

### Ego vehicle
The ego Vehicle sensors are provided via topics with prefix /carla/ego_vehicle/<sensor_topic>


# ROSBAG recording (not yet tested)

The carla_ros_bridge could also be used to record all published topics into a rosbag:

roslaunch carla_ros_bridge client_with_rviz.launch rosbag_fname:=/tmp/save_session.bag

This command will create a rosbag /tmp/save_session.bag

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.