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# Launchfiles reference
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---
## carla_ackermann_control.launch
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Creates a node to manage a vehicle using Ackermann controls instead of the CARLA control messages. The node reads the vehicle info from CARLA and uses it to define the controller. A simple Python PID is used to adjust acceleration/velocity. It can be installed using:
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```sh
pip install --user simple-pid
```
Initial parameters can be set in: `share/carla_ackermann_control/config/settings.yaml` .
It is possible to modify the parameters during runtime via ROS dynamic reconfigure.
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<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > /carla_ackermann_control_ego_vehicle< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Converts [AckermannDrive messages ](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.htm ) to [CarlaEgoVehicleControl.msg ](../ros_msgs#carlaegovehiclemsg ).
Speed is in __m/s__ , steering angle is driving angle (not wheel angle) in __radians__ .
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "f8815c" >< b > /carla/ego_vehicle/ackermann_cmd</ b ></ font > — [ackermann_msgs.AckermannDrive ](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.htm )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_info</ b ></ font > — [carla_msgs.CarlaEgoVehicleInfo ](../ros_msgs#carlaegovehicleinfomsg )
* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_status</ b ></ font > — [carla_msgs.CarlaEgoVehicleStatus ](../ros_msgs#carlaegovehiclestatusmsg )
< p style = "margin-top:-10px;margin-bottom:-5px" > < b > Publishes in:< / b > < / p >
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* < font color = "80ba10" >< b > /carla/ego_vehicle/ackermann_control/parameter_descriptions</ b ></ font > — [dynamic_reconfigure/ConfigDescription ](http://docs.ros.org/melodic/api/dynamic_reconfigure/html/msg/ConfigDescription.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/ackermann_control/control_info</ b ></ font > — [carla_ackermann_control.EgoVehicleControlInfo ](../ros_msgs#egovehiclecontrolinfomsg )
* < font color = "80ba10" >< b > /carla/ego_vehicle/ackermann_control/parameter_updates</ b ></ font > — [dynamic_reconfigure/Config ](http://wiki.ros.org/dynamic_reconfigure )
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* < font color = "80ba10" >< b > /carla/ego_vehicle/vehicle_control_cmd</ b ></ font > — [carla_msgs.CarlaEgoVehicleControl ](../ros_msgs#carlaegovehiclecontrolmsg )
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---
## carla_ego_vehicle.launch
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Spawns an ego vehicle (`role-name="ego_vehicle"`). To describe the sensors attached to the vehicle, the `sensor_definition_file argument` is used. This contains the location of a __ .json__ file describing sensors attached to the vehicle. The format for this file is explained [here ](https://github.com/carla-simulator/ros-bridge/tree/master/carla_ego_vehicle ).
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To spawn the vehicle at a specific location, publish in: `/carla/ego_vehicle/initialpose` or use __RVIZ__ and select a position with: __2D Pose estimate__ .
<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > carla_ego_vehicle_ego_vehicle< / u > < small > < i > (Node)< / i > < / small > < / h4 >
Spawns an ego vehicle with sensors attached and waits for world information.
< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
* < font color = "f8815c" >< b > /carla/ego_vehicle/initialpose</ b ></ font > — [geometry_msgs/PoseWithCovarianceStamped ](http://docs.ros.org/melodic/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html )
* < font color = "f8815c" >< b > /carla/world_info</ b ></ font > — [carla_msgs.CarlaWorldInfo ](../ros_msgs#carlaworldinfomsg )
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---
## carla_example_ego_vehicle.launch
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Based on [carla_ego_vehicle.launch ](#carla-ego-vehicle-launch ), spawns an ego vehicle (`role-name="ego_vehicle"`) using a provided file describing the sensors. Said file can be found in: `share/carla_ego_vehicle/config/sensors.json` .
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<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > carla_ego_vehicle_ego_vehicle< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Spawns an ego vehicle with sensors attached and waits for world information.
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
* < font color = "f8815c" >< b > /carla/ego_vehicle/initialpose</ b ></ font > — [geometry_msgs/PoseWithCovarianceStamped ](http://docs.ros.org/melodic/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html )
* < font color = "f8815c" >< b > /carla/world_info</ b ></ font > — [carla_msgs.CarlaWorldInfo ](../ros_msgs#carlaworldinfomsg )
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---
## carla_infrastructure.launch
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Spawns infrastructure sensors and requires the argument `infrastructure_sensor_definition_file` with the location of a __ .json__ file describing these sensors.
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<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > /carla_infrastructure< / u > < small > < i > (Node)< / i > < / small > < / h4 >
Spawns the infrastructure sensors passed as arguments.
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "f8815c" >< b > /carla/world_info</ b ></ font > — [carla_msgs.CarlaWorldInfo ](../ros_msgs#carlaworldinfomsg )
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---
## carla_ros_bridge.launch
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Creates a node with some basic communications between CARLA and ROS.
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<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > carla_ros_bridge< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Publishes the data regarding the current state of the simulation: world, objects, trafic lights, actors...
Receives the debug shapes being drawn, which include: arrows, points, cubes and line strips.
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "f8815c" >< b > /carla/debug_marker</ b ></ font > — [visualization_msgs.MarkerArray ](http://docs.ros.org/melodic/api/visualization_msgs/html/msg/MarkerArray.html )
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< p style = "margin-top:-10px;margin-bottom:-5px" > < b > Publishes in:< / b > < / p >
* < font color = "80ba10" >< b > /carla/actor_list</ b ></ font > — [carla_msgs.CarlaActorList ](../ros_msgs#carlaactorlistmsg )
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* < font color = "80ba10" >< b > /carla/objects</ b ></ font > — [derived_object_msgs.ObjectArrayring ](http://wiki.ros.org/derived_object_msgs )
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* < font color = "80ba10" >< b > /carla/status</ b ></ font > — [carla_msgs.CarlaStatus ](../ros_msgs#carlastatusmsg )
* < font color = "80ba10" >< b > /carla/traffic_lights</ b ></ font > — [carla_msgs.CarlaTrafficLightStatusList ](../ros_msgs#carlatrafficlightstatuslist )
* < font color = "80ba10" >< b > /carla/world_info</ b ></ font > — [carla_msgs.CarlaWorldInfo ](../ros_msgs#carlaworldinfomsg )
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---
## carla_ros_bridge_with_ackermann_control.launch
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Launches two basic nodes, one to retrieve simulation data and another one to control a vehicle using [AckermannDrive messages ](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.htm ).
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<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > carla_ros_bridge< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Publishes the data regarding the current state of the simulation: world, objects, trafic lights, actors...
Receives the debug shapes being drawn, which include: arrows, points, cubes and line strips.10px
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "f8815c" >< b > /carla/debug_marker</ b ></ font > — [visualization_msgs.MarkerArray ](http://docs.ros.org/melodic/api/visualization_msgs/html/msg/MarkerArray.html )
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< p style = "margin-top:-10px;margin-bottom:-5px" > < b > Publishes in:< / b > < / p >
* < font color = "80ba10" >< b > /carla/actor_list</ b ></ font > — [carla_msgs.CarlaActorList ](../ros_msgs#carlaactorlistmsg )
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* < font color = "80ba10" >< b > /carla/objects</ b ></ font > — [derived_object_msgs.ObjectArrayring ](http://wiki.ros.org/derived_object_msgs )
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* < font color = "80ba10" >< b > /carla/status</ b ></ font > — [carla_msgs.CarlaStatus ](../ros_msgs#carlastatusmsg )
* < font color = "80ba10" >< b > /carla/traffic_lights</ b ></ font > — [carla_msgs.CarlaTrafficLightStatusList ](../ros_msgs#carlatrafficlightstatuslist )
* < font color = "80ba10" >< b > /carla/world_info</ b ></ font > — [carla_msgs.CarlaWorldInfo ](../ros_msgs#carlaworldinfomsg )
<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > /carla_ackermann_control_ego_vehicle< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Converts [AckermannDrive messages ](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.htm ) to [CarlaEgoVehicleControl.msg ](../ros_msgs#carlaegovehiclemsg ).
Speed is in __m/s__ , steering angle is driving angle (not wheel angle) in __radians__ .
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "f8815c" >< b > /carla/ego_vehicle/ackermann_cmd</ b ></ font > — [ackermann_msgs.AckermannDrive ](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.htm )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_info</ b ></ font > — [carla_msgs.CarlaEgoVehicleInfo ](../ros_msgs#carlaegovehicleinfomsg )
* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_status</ b ></ font > — [carla_msgs.CarlaEgoVehicleStatus ](../ros_msgs#carlaegovehiclestatusmsg )
< p style = "margin-top:-10px;margin-bottom:-5px" > < b > Publishes in:< / b > < / p >
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* < font color = "80ba10" >< b > /carla/ego_vehicle/ackermann_control/parameter_descriptions</ b ></ font > — [dynamic_reconfigure/ConfigDescription ](http://docs.ros.org/melodic/api/dynamic_reconfigure/html/msg/ConfigDescription.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/ackermann_control/control_info</ b ></ font > — [carla_ackermann_control.EgoVehicleControlInfo ](../ros_msgs#egovehiclecontrolinfomsg )
* < font color = "80ba10" >< b > /carla/ego_vehicle/ackermann_control/parameter_updates</ b ></ font > — [dynamic_reconfigure/Config ](http://wiki.ros.org/dynamic_reconfigure )
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* < font color = "80ba10" >< b > /carla/ego_vehicle/vehicle_control_cmd</ b ></ font > — [carla_msgs.CarlaEgoVehicleControl ](../ros_msgs#carlaegovehiclecontrolmsg )
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---
## carla_ros_bridge_with_example_ego_vehicle.launch
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Spawns an ego vehicle with sensors attached and starts communications between CARLA and ROS sharing current simulation state, sensor and ego vehicle data.
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The ego vehicle is set ready to be used in manual control.
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<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > carla_ros_bridge< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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This node is in charge of most of the communications between CARLA and ROS for both the current state of the simulation, traffic lights, vehicle controllers and sensor data.
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "f8815c" >< b > /carla/debug_marker</ b ></ font > — [visualization_msgs.MarkerArray ](http://docs.ros.org/melodic/api/visualization_msgs/html/msg/MarkerArray.html )
* < font color = "f8815c" >< b > /carla/ego_vehicle/enable_autopilot</ b ></ font > — [std_msgs.Bool ](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html )
* < font color = "f8815c" >< b > /carla/ego_vehicle/twist</ b ></ font > — [geometry_msgs.Twist ](http://docs.ros.org/melodic/api/geometry_msgs/html/msg/Twist.html )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_control_cmd</ b ></ font > — [carla_msgs.CarlaEgoVehicleControl ](../ros_msgs#carlaegovehiclecontrolmsg )
* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_control_cmd_manual</ b ></ font > — [carla_msgs.CarlaEgoVehicleControl ](../ros_msgs#carlaegovehiclecontrolmsg )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_control_manual_override</ b ></ font > — [std_msgs.Bool ](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html )
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< p style = "margin-top:-10px;margin-bottom:-5px" > < b > Publishes in:< / b > < / p >
* < font color = "80ba10" >< b > /carla/actor_list</ b ></ font > — [carla_msgs.CarlaActorList ](../ros_msgs#carlaactorlistmsg )
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* < font color = "80ba10" >< b > /carla/ego_vehicle/camera/rgb/front/camera_info</ b ></ font > — [sensor_msgs.CameraInfo ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/CameraInfo.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/camera/rgb/front/image_color</ b ></ font > — [sensor_msgs.Image ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Image.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/camera/rgb/view/camera_info</ b ></ font > — [sensor_msgs.CameraInfo ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/CameraInfo.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/camera/rgb/view/image_color</ b ></ font > — [sensor_msgs.Image ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Image.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/gnss/gnss1/fix</ b ></ font > — [sensor_msgs.NavSatFix ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/NavSatFix.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/imu</ b ></ font > — [sensor_msgs.Imu ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Imu.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/lidar/lidar1/point_cloud</ b ></ font > — [sensor_msgs.PointCloud2 ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointCloud2.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/objects</ b ></ font > — [derived_object_msgs.ObjectArray ](http://docs.ros.org/kinetic/api/derived_object_msgs/html/msg/ObjectArray.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/odometry</ b ></ font > — [nav_msgs.Odometry ](http://docs.ros.org/melodic/api/nav_msgs/html/msg/Odometry.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/radar/front/radar</ b ></ font > — [ainstein_radar_msgs.RadarTargetArray ](http://wiki.ros.org/ainstein_radar_msgs )
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* < font color = "80ba10" >< b > /carla/ego_vehicle/vehicle_info</ b ></ font > — [carla_msgs.CarlaEgoVehicleInfo ](../ros_msgs#carlaegovehicleinfomsg )
* < font color = "80ba10" >< b > /carla/ego_vehicle/vehicle_status</ b ></ font > — [carla_msgs.CarlaEgoVehicleStatus ](../ros_msgs#carlaegovehiclestatusmsg )
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* < font color = "80ba10" >< b > /carla/objects</ b ></ font > — [derived_object_msgs.ObjectArrayring ](http://wiki.ros.org/derived_object_msgs )
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* < font color = "80ba10" >< b > /carla/status</ b ></ font > — [carla_msgs.CarlaStatus ](../ros_msgs#carlastatusmsg )
* < font color = "80ba10" >< b > /carla/traffic_lights</ b ></ font > — [carla_msgs.CarlaTrafficLightStatusList ](../ros_msgs#carlatrafficlightstatuslist )
* < font color = "80ba10" >< b > /carla/world_info</ b ></ font > — [carla_msgs.CarlaWorldInfo ](../ros_msgs#carlaworldinfomsg )
<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > /carla_manual_control_ego_vehicle< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Retrieves information from CARLA regarding the ego vehicle. Uses keyboard input to publish messages containing the controller data to manage the ego vehicle.
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The information retrieved includes both static and current state, the sensor data registered on every step and the general settings of the simulation.
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "f8815c" >< b > /carla/ego_vehicle/camera/rgb/view/image_color</ b ></ font > — [sensor_msgs.Image ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Image.html )
* < font color = "f8815c" >< b > /carla/ego_vehicle/collision</ b ></ font > — [carla_msgs.CarlaCollisionEvent ](../ros_msgs#carlacollisioneventmsg )
* < font color = "f8815c" >< b > /carla/ego_vehicle/gnss/gnss1/fix</ b ></ font > — [sensor_msgs.NavSatFix ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/NavSatFix.html )
* < font color = "f8815c" >< b > /carla/ego_vehicle/lane_invasion</ b ></ font > — [carla_msgs.CarlaLaneInvasionEvent ](../ros_msgs#carlalaneinvasioneventmsg )
* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_control_manual_override</ b ></ font > — [std_msgs.Bool ](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html )
* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_info</ b ></ font > — [carla_msgs.CarlaEgoVehicleInfo ](../ros_msgs#carlaegovehicleinfomsg )
* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_status</ b ></ font > — [carla_msgs.CarlaEgoVehicleStatus ](../ros_msgs#carlaegovehiclestatusmsg )
* < font color = "f8815c" >< b > /carla/status</ b ></ font > — [carla_msgs.CarlaStatus ](../ros_msgs#carlastatusmsg )
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< p style = "margin-top:-10px;margin-bottom:-5px" > < b > Publishes in:< / b > < / p >
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* < font color = "80ba10" >< b > /carla/ego_vehicle/enable_autopilot</ b ></ font > — [std_msgs.Bool ](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/vehicle_control_cmd_manual</ b ></ font > — [carla_msgs.CarlaEgoVehicleControl ](../ros_msgs#carlaegovehiclecontrolmsg )
* < font color = "80ba10" >< b > /carla/ego_vehicle/vehicle_control_manual_override</ b ></ font > — [std_msgs.Bool ](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html )
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<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > /carla_ego_vehicle_ego_vehicle< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Spawns an ego vehicle with sensors attached and waits for world information.
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "f8815c" >< b > /carla/ego_vehicle/initialpose</ b ></ font > — [geometry_msgs/PoseWithCovarianceStamped ](http://docs.ros.org/melodic/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html )
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---
## carla_ros_bridge_with_rviz.launch
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Starts some basic communications between CARLA and ROS and launches an instance of RVIZ ready to retrieve Lidar data.
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<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > carla_ros_bridge< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Shares information between CARLA and ROS regarding the current simulation state.
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "f8815c" >< b > /carla/debug_marker</ b ></ font > — [visualization_msgs.MarkerArray ](http://docs.ros.org/melodic/api/visualization_msgs/html/msg/MarkerArray.html )
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< p style = "margin-top:-10px;margin-bottom:-5px" > < b > Publishes in:< / b > < / p >
* < font color = "80ba10" >< b > /carla/actor_list</ b ></ font > — [carla_msgs.CarlaActorList ](../ros_msgs#carlaactorlistmsg )
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* < font color = "80ba10" >< b > /carla/objects</ b ></ font > — [derived_object_msgs.ObjectArrayring ](http://wiki.ros.org/derived_object_msgs )
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* < font color = "80ba10" >< b > /carla/status</ b ></ font > — [carla_msgs.CarlaStatus ](../ros_msgs#carlastatusmsg )
* < font color = "80ba10" >< b > /carla/traffic_lights</ b ></ font > — [carla_msgs.CarlaTrafficLightStatusList ](../ros_msgs#carlatrafficlightstatuslist )
* < font color = "80ba10" >< b > /carla/world_info</ b ></ font > — [carla_msgs.CarlaWorldInfo ](../ros_msgs#carlaworldinfomsg )
<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > /rviz< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Runs an instance of RVIZ waiting for Lidar data.
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "f8815c" >< b > /carla/vehicle_marker</ b ></ font > — [visualization_msgs/Marker ](http://docs.ros.org/melodic/api/visualization_msgs/html/msg/Marker.html )
* < font color = "f8815c" >< b > /carla/vehicle_marker_array</ b ></ font > — [visualization_msgs/MarkerArray ](http://docs.ros.org/melodic/api/visualization_msgs/html/msg/MarkerArray.html )
* < font color = "f8815c" >< b > /carla/ego_vehicle/lidar/front/point_cloud</ b ></ font > — [sensor_msgs.PointCloud2 ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointCloud2.html )
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---
## carla_manual_control.launch
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A ROS version of the CARLA script `manual_control.py` that receives and manages the information using ROS topics. It has some prerequisites:
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* To display an image: a camera with role-name 'view' and resolution 800x600.
* To display the position: a gnss sensor with role-name 'gnss1'.
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* To detect other sensor data: the corresponding sensor.
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<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > /carla_manual_control_ego_vehicle< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Retrieves information from CARLA regarding the ego vehicle. Uses keyboard input to publish messages containing the controller data to manage the ego vehicle.
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The information retrieved includes both static and current state, the sensor data registered on every step and the general settings of the simulation.
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "f8815c" >< b > /carla/ego_vehicle/camera/rgb/view/image_color</ b ></ font > — [sensor_msgs.Image ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Image.html )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/collision</ b ></ font > — [carla_msgs.CarlaCollisionEvent ](../ros_msgs#carlacollisioneventmsg )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/gnss/gnss1/fix</ b ></ font > — [sensor_msgs.NavSatFix ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/NavSatFix.html )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/lane_invasion</ b ></ font > — [carla_msgs.CarlaLaneInvasionEvent ](../ros_msgs#carlalaneinvasioneventmsg )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_control_manual_override</ b ></ font > — [std_msgs.Bool ](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_info</ b ></ font > — [carla_msgs.CarlaEgoVehicleInfo ](../ros_msgs#carlaegovehicleinfomsg )
* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_status</ b ></ font > — [carla_msgs.CarlaEgoVehicleStatus ](../ros_msgs#carlaegovehiclestatusmsg )
* < font color = "f8815c" >< b > /carla/status</ b ></ font > — [carla_msgs.CarlaStatus ](../ros_msgs#carlastatusmsg )
< p style = "margin-top:-10px;margin-bottom:-5px" > < b > Publishes in:< / b > < / p >
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* < font color = "80ba10" >< b > /carla/ego_vehicle/enable_autopilot</ b ></ font > — [std_msgs.Bool ](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html )
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* < font color = "80ba10" >< b > /carla/ego_vehicle/vehicle_control_cmd_manual</ b ></ font > — [carla_msgs.CarlaEgoVehicleControl ](../ros_msgs#carlaegovehiclecontrolmsg )
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* < font color = "80ba10" >< b > /carla/ego_vehicle/vehicle_control_manual_override</ b ></ font > — [std_msgs.Bool ](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html )
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---
## carla_pcl_recorder.launch
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Creates a pointcloud map for the current CARLA level by letting an ego vehicle in autopilot mode roam around with a Lidar sensor attached.
The captured point clouds are saved in the `/tmp/pcl_capture` directory. Once the capture is done, the overall size can be reduced:
```sh
#create one point cloud file
pcl_concatenate_points_pcd /tmp/pcl_capture/*.pcd
#filter duplicates
pcl_voxel_grid -leaf 0.1,0.1,0.1 output.pcd map.pcd
#verify the result
pcl_viewer map.pcd
```
In order to run it, the launch file requires some functionality that is not part of the python egg-file, so the PYTHONPATH has to be extended:
```sh
export PYTHONPATH=< path-to-carla > /PythonAPI/carla/dist/carla-< version_and_arch > .egg:< path-to-carla > /PythonAPI/carla/
```
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<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > carla_ros_bridge< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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This node is in charge of most of the communications between CARLA and ROS for both the current state of the simulation, traffic lights, vehicle controllers and sensor data.
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "f8815c" >< b > /carla/debug_marker</ b ></ font > — [visualization_msgs.MarkerArray ](http://docs.ros.org/melodic/api/visualization_msgs/html/msg/MarkerArray.html )
* < font color = "f8815c" >< b > /carla/ego_vehicle/enable_autopilot</ b ></ font > — [std_msgs.Bool ](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html )
* < font color = "f8815c" >< b > /carla/ego_vehicle/twist</ b ></ font > — [geometry_msgs.Twist ](http://docs.ros.org/melodic/api/geometry_msgs/html/msg/Twist.html )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_control_cmd</ b ></ font > — [carla_msgs.CarlaEgoVehicleControl ](../ros_msgs#carlaegovehiclecontrolmsg )
* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_control_cmd_manual</ b ></ font > — [carla_msgs.CarlaEgoVehicleControl ](../ros_msgs#carlaegovehiclecontrolmsg )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_control_manual_override</ b ></ font > — [std_msgs.Bool ](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html )
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< p style = "margin-top:-10px;margin-bottom:-5px" > < b > Publishes in:< / b > < / p >
* < font color = "80ba10" >< b > /carla/actor_list</ b ></ font > — [carla_msgs.CarlaActorList ](../ros_msgs#carlaactorlistmsg )
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* < font color = "80ba10" >< b > /carla/ego_vehicle/camera/rgb/front/camera_info</ b ></ font > — [sensor_msgs.CameraInfo ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/CameraInfo.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/camera/rgb/front/image_color</ b ></ font > — [sensor_msgs.Image ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Image.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/camera/rgb/view/camera_info</ b ></ font > — [sensor_msgs.CameraInfo ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/CameraInfo.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/camera/rgb/view/image_color</ b ></ font > — [sensor_msgs.Image ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Image.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/gnss/gnss1/fix</ b ></ font > — [sensor_msgs.NavSatFix ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/NavSatFix.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/imu</ b ></ font > — [sensor_msgs.Imu ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Imu.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/lidar/lidar1/point_cloud</ b ></ font > — [sensor_msgs.PointCloud2 ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointCloud2.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/objects</ b ></ font > — [derived_object_msgs.ObjectArray ](http://docs.ros.org/kinetic/api/derived_object_msgs/html/msg/ObjectArray.html )
* < font color = "80ba10" >< b > /carla/ego_vehicle/odometry</ b ></ font > — [nav_msgs.Odometry ](http://docs.ros.org/melodic/api/nav_msgs/html/msg/Odometry.html )
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* < font color = "80ba10" >< b > /carla/ego_vehicle/vehicle_status</ b ></ font > — [carla_msgs.CarlaEgoVehicleStatus ](../ros_msgs#carlaegovehiclestatusmsg )
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* < font color = "80ba10" >< b > /carla/ego_vehicle/radar/front/radar</ b ></ font > — [ainstein_radar_msgs.RadarTargetArray ](http://wiki.ros.org/ainstein_radar_msgs )
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* < font color = "80ba10" >< b > /carla/ego_vehicle/vehicle_info</ b ></ font > — [carla_msgs.CarlaEgoVehicleInfo ](../ros_msgs#carlaegovehicleinfomsg )
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* < font color = "80ba10" >< b > /carla/marker</ b ></ font > — [visualization_msgs.Marker ](http://docs.ros.org/melodic/api/visualization_msgs/html/msg/Marker.html )
* < font color = "80ba10" >< b > /carla/objects</ b ></ font > — [derived_object_msgs.ObjectArrayring ](http://wiki.ros.org/derived_object_msgs )
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* < font color = "80ba10" >< b > /carla/status</ b ></ font > — [carla_msgs.CarlaStatus ](../ros_msgs#carlastatusmsg )
* < font color = "80ba10" >< b > /carla/traffic_lights</ b ></ font > — [carla_msgs.CarlaTrafficLightStatusList ](../ros_msgs#carlatrafficlightstatuslist )
* < font color = "80ba10" >< b > /carla/world_info</ b ></ font > — [carla_msgs.CarlaWorldInfo ](../ros_msgs#carlaworldinfomsg )
<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > /carla_manual_control_ego_vehicle< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Retrieves information from CARLA regarding the ego vehicle. Uses keyboard input to publish messages containing the controller data to manage the ego vehicle.
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The information retrieved includes both static and current state, the sensor data registered on every step and the general settings of the simulation.
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "f8815c" >< b > /carla/ego_vehicle/camera/rgb/view/image_color</ b ></ font > — [sensor_msgs.Image ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Image.html )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/collision</ b ></ font > — [carla_msgs.CarlaCollisionEvent ](../ros_msgs#carlacollisioneventmsg )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/gnss/gnss1/fix</ b ></ font > — [sensor_msgs.NavSatFix ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/NavSatFix.html )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/lane_invasion</ b ></ font > — [carla_msgs.CarlaLaneInvasionEvent ](../ros_msgs#carlalaneinvasioneventmsg )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_control_manual_override</ b ></ font > — [std_msgs.Bool ](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html )
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* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_info</ b ></ font > — [carla_msgs.CarlaEgoVehicleInfo ](../ros_msgs#carlaegovehicleinfomsg )
* < font color = "f8815c" >< b > /carla/ego_vehicle/vehicle_status</ b ></ font > — [carla_msgs.CarlaEgoVehicleStatus ](../ros_msgs#carlaegovehiclestatusmsg )
* < font color = "f8815c" >< b > /carla/status</ b ></ font > — [carla_msgs.CarlaStatus ](../ros_msgs#carlastatusmsg )
< p style = "margin-top:-10px;margin-bottom:-5px" > < b > Publishes in:< / b > < / p >
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* < font color = "80ba10" >< b > /carla/ego_vehicle/enable_autopilot</ b ></ font > — [std_msgs.Bool ](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html )
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* < font color = "80ba10" >< b > /carla/ego_vehicle/vehicle_control_cmd_manual</ b ></ font > — [carla_msgs.CarlaEgoVehicleControl ](../ros_msgs#carlaegovehiclecontrolmsg )
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* < font color = "80ba10" >< b > /carla/ego_vehicle/vehicle_control_manual_override</ b ></ font > — [std_msgs.Bool ](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html )
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<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > /carla_ego_vehicle_ego_vehicle< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Spawns an ego vehicle with sensors attached and waits for world information.
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "f8815c" >< b > /carla/ego_vehicle/initialpose</ b ></ font > — [geometry_msgs/PoseWithCovarianceStamped ](http://docs.ros.org/melodic/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html )
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<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > /enable_autopilot_rostopic< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Changes between autopilot and manual control modes.
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< p style = "margin-top:-10px;margin-bottom:-5px" > < b > Publishes in:< / b > < / p >
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* < font color = "80ba10" >< b > /carla/ego_vehicle/enable_autopilot</ b ></ font > — [std_msgs.Bool ](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html )
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<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > /pcl_recorder_node< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Receives the cloud point data to map the surroundings.
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
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* < font color = "80ba10" >< b > /carla/ego_vehicle/lidar/lidar1/point_cloud</ b ></ font > — [sensor_msgs.PointCloud2 ](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointCloud2.html )
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---
## carla_waypoint_publisher.launch
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Calculates a waypoint route for an ego vehicle.
The calculated route is published in: `/carla/<ego vehicle name>/waypoints` .
The goal is either read from the ROS topic `/carla/<ROLE NAME>/goal` , if available, or a fixed spawnpoint is used.
The prefered way of setting a goal is to click __2D Nav Goal__ in RVIZ.
In order to run it, the launch file requires some functionality that is not part of the python egg-file, so the PYTHONPATH has to be extended:
```sh
export PYTHONPATH=$PYTHONPATH:< path-to-carla > /PythonAPI/carla-< carla_version_and_arch > .egg:< path-to-carla > /PythonAPI/carla/
```
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<!-- - NODE -->
< h4 style = "margin-bottom: 5px" > < u > /carla_waypoint_publisher< / u > < small > < i > (Node)< / i > < / small > < / h4 >
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Uses the current pose of the ego vehicle with role-name `ego_vehicle` as starting point. If the vehicle is respawned or moved, the route is calculated again.
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< p style = "margin-bottom:-5px" > < b > Subscribed to:< / b > < / p >
* < font color = "f8815c" >< b > /carla/world_info</ b ></ font > — [carla_msgs.CarlaWorldInfo ](../ros_msgs#carlaworldinfomsg )
