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# CARLA launch
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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 when these are not ideal to connect an AD stack. 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:
```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"`) with the argument `sensor_definition_file` being this 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 ).
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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As [carla_ego_vehicle.launch ](#carla-ego-vehicle-launch ), spawns an ego vehicle (`role-name="ego_vehicle"`), only this uses a provided file to pass the sensors attached to the vehicle. 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 communication 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 communication between CARLA and ROS sharing current simulation state, sensor and ego vehicle data.
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 communication 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 from CARLA information regarding the ego vehicle. Uses keyboard input to publish messages containing the controller data to manage the ego vehicle.
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 communication 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 curent 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:
* To display an image: a camera with role-name 'view' and resolution 800x600
* To display the position: a gnss sensor with role-name 'gnss1'
* 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 from CARLA information regarding the ego vehicle. Uses keyboard input to publish messages containing the controller data to manage the ego vehicle.
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 communication 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 from CARLA information regarding the ego vehicle. Uses keyboard input to publish messages containing the controller data to manage the ego vehicle.
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 newly calculated.
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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 )
