Added messages and topics references.
This commit is contained in:
sergi-e
Marc Garcia Puig
parent
b27d5d10c3
commit
7588981727
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@ -14,8 +14,8 @@ The ROS bridge enables communication between ROS and CARLA so that both software
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##Requirements
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##Requirements
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<h4>ROS melodic</h4>
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<h4>ROS melodic</h4>
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* __ROS melodic:__ follow the official documentation to [install ROS](http://wiki.ros.org/melodic/Installation/Ubuntu).
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* __ROS Kinetic/Melodic:__ follow the official documentation to [install ROS](http://wiki.ros.org/melodic/Installation/Ubuntu). Some ROS packages could be necessary, depending on the user needs, such as [rviz](https://wiki.ros.org/ainstein_radar_rviz_plugins) to visualize ROS data.
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* __CARLA:__ any version later than __XX__ should work properly. Follow the [quick start installation](../getting_started/quickstart) or make the build for the corresponding platform.
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* __CARLA:__ only __CARLA 0.9.7__ and later versions are supported. Follow the [quick start installation](../getting_started/quickstart) or make the build for the corresponding platform.
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!!! Important
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!!! Important
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Make sure that both CARLA and ROS work properly before continuing with the installation.
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Make sure that both CARLA and ROS work properly before continuing with the installation.
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@ -25,12 +25,20 @@ The ROS bridge enables communication between ROS and CARLA so that both software
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<h4>a) apt-get ROS bridge</h4>
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<h4>a) apt-get ROS bridge</h4>
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First add the apt repository
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First add the apt repository:
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* __For ROS Melodic:__
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```sh
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```sh
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sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 81061A1A042F527D &&
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sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 81061A1A042F527D &&
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sudo add-apt-repository "deb [trusted=yes] http://34.227.255.250/carla-ros-bridge-melodic/ bionic main"
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sudo add-apt-repository "deb [trusted=yes] http://34.227.255.250/carla-ros-bridge-melodic/ bionic main"
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```
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```
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* __For ROS Kinetic:__
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```sh
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sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 9BE2A0CDC0161D6C
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sudo add-apt-repository "deb [trusted=yes] http://dist.carla.org/carla-ros-bridge-kinetic xenial main"
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```
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Then simply install the ROS bridge:
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Then simply install the ROS bridge:
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```sh
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```sh
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sudo apt-get update &&
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sudo apt-get update &&
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@ -0,0 +1,281 @@
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<h1>CARLA launch</h1>
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--------------
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##carla_ackermann_control.launch
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<!---NODE-->
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<h4 style="margin-bottom: 5px"> <u>/carla_ackermann_control_ego_vehicle</u> <small><i>(Node)</i></small> </h4>
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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
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* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_info</b></font> — [carla_msgs.CarlaEgoVehicleInfo](../ros_msgs#carlaegovehicleinfomsg)
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* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](../ros_msgs#carlaegovehiclestatusmsg)
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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/ackermann_control_parameter_descriptions</b></font> — ???
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* <font color="80ba10"><b>/carla/ego_vehicle/ackermann_control/control_info</b></font> — carla_ackermann_control.EgoVehicleControlInfo ???
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* <font color="80ba10"><b>/carla/ego_vehicle/ackermann_control/parameter_updates</b></font> — ???
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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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---------------
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##carla_ros_bridge.launch
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<!---NODE-->
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<h4 style="margin-bottom: 5px"> <u>carla_ros_bridge</u> <small><i>(Node)</i></small> </h4>
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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
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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/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
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* <font color="80ba10"><b>/carla/status</b></font> — [carla_msgs.CarlaStatus](../ros_msgs#carlastatusmsg)
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* <font color="80ba10"><b>/carla/traffic_lights</b></font> — [carla_msgs.CarlaTrafficLightStatusList](../ros_msgs#carlatrafficlightstatuslist)
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* <font color="80ba10"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](../ros_msgs#carlaworldinfomsg)
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--------------
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##carla_ros_bridge_with_ackermann_control.launch
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<!---NODE-->
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<h4 style="margin-bottom: 5px"> <u>carla_ros_bridge</u> <small><i>(Node)</i></small> </h4>
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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
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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/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
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* <font color="80ba10"><b>/carla/status</b></font> — [carla_msgs.CarlaStatus](../ros_msgs#carlastatusmsg)
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* <font color="80ba10"><b>/carla/traffic_lights</b></font> — [carla_msgs.CarlaTrafficLightStatusList](../ros_msgs#carlatrafficlightstatuslist)
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* <font color="80ba10"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](../ros_msgs#carlaworldinfomsg)
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<!---NODE-->
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<h4 style="margin-bottom: 5px"> <u>/carla_ackermann_control_ego_vehicle</u> <small><i>(Node)</i></small> </h4>
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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
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* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_info</b></font> — [carla_msgs.CarlaEgoVehicleInfo](../ros_msgs#carlaegovehicleinfomsg)
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* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](../ros_msgs#carlaegovehiclestatusmsg)
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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/ackermann_control_parameter_descriptions</b></font> — ???
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* <font color="80ba10"><b>/carla/ego_vehicle/ackermann_control/control_info</b></font> — carla_ackermann_control.EgoVehicleControlInfo ???
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* <font color="80ba10"><b>/carla/ego_vehicle/ackermann_control/parameter_updates</b></font> — ???
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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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--------------
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##carla_ros_bridge_with_example_ego_vehicle.launch
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<!---NODE-->
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<h4 style="margin-bottom: 5px"> <u>carla_ros_bridge</u> <small><i>(Node)</i></small> </h4>
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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
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* <font color="f8815c"><b>/carla/ego_vehicle/enable_autopilot</b></font> — ???
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* <font color="f8815c"><b>/carla/ego_vehicle/twist</b></font> — geometry_msgs.Twist
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* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_control_cmd</b></font> — [carla_msgs.CarlaEgoVehicleControl](../ros_msgs#carlaegovehiclecontrolmsg)
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* <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
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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/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
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* <font color="80ba10"><b>/carla/ego_vehicle/camera/rgb/front/image_color</b></font> — sensor_msgs.Image
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* <font color="80ba10"><b>/carla/ego_vehicle/camera/rgb/view/camera_info</b></font> — sensor_msgs.CameraInfo
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* <font color="80ba10"><b>/carla/ego_vehicle/camera/rgb/view/image_color</b></font> — sensor_msgs.Image
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* <font color="80ba10"><b>/carla/ego_vehicle/gnss/gnss1/fix</b></font> — sensor_msgs.NavSatFix
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* <font color="80ba10"><b>/carla/ego_vehicle/imu</b></font> — sensor_msgs.Imu
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* <font color="80ba10"><b>/carla/ego_vehicle/lidar/lidar1/point_cloud</b></font> — sensor_msgs.PointCloud2
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* <font color="80ba10"><b>/carla/ego_vehicle/objects</b></font> — derived_object_msgs.ObjectArray
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* <font color="80ba10"><b>/carla/ego_vehicle/odometry</b></font> — nav_msgs.Odometry
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* <font color="80ba10"><b>/carla/ego_vehicle/radar/front/radar</b></font> — ainstein_radar_msgs.RadarTargetArray
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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/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
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* <font color="80ba10"><b>/carla/status</b></font> — [carla_msgs.CarlaStatus](../ros_msgs#carlastatusmsg)
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* <font color="80ba10"><b>/carla/traffic_lights</b></font> — [carla_msgs.CarlaTrafficLightStatusList](../ros_msgs#carlatrafficlightstatuslist)
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* <font color="80ba10"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](../ros_msgs#carlaworldinfomsg)
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<!---NODE-->
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<h4 style="margin-bottom: 5px"> <u>/carla_manual_control_ego_vehicle</u> <small><i>(Node)</i></small> </h4>
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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/camera/rgb/view/image_color</b></font> — sensor_msgs.Image
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* <font color="80ba10"><b>/carla/ego_vehicle/collision</b></font> — [carla_msgs.CarlaCollisionEvent](../ros_msgs#carlacollisioneventmsg)
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* <font color="80ba10"><b>/carla/ego_vehicle/gnss/gnss1/fix</b></font> — sensor_msgs.NavSatFix
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* <font color="80ba10"><b>/carla/ego_vehicle/lane_invasion</b></font> — [carla_msgs.CarlaLaneInvasionEvent](../ros_msgs#carlalaneinvasioneventmsg)
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* <font color="80ba10"><b>/carla/ego_vehicle/vehicle_control_manual_override</b></font> — std_msgs.Bool
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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/ego_vehicle/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](../ros_msgs#carlaegovehiclestatusmsg)
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* <font color="80ba10"><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="f8815c"><b>/carla/ego_vehicle/enable_autopilot</b></font> — ???
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* <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
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<!---NODE-->
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<h4 style="margin-bottom: 5px"> <u>/carla_ego_vehicle_ego_vehicle</u> <small><i>(Node)</i></small> </h4>
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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> — ???
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---------------
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##carla_ros_bridge_with_rviz.launch
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<!---NODE-->
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<h4 style="margin-bottom: 5px"> <u>carla_ros_bridge</u> <small><i>(Node)</i></small> </h4>
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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
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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/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
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* <font color="80ba10"><b>/carla/status</b></font> — [carla_msgs.CarlaStatus](../ros_msgs#carlastatusmsg)
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* <font color="80ba10"><b>/carla/traffic_lights</b></font> — [carla_msgs.CarlaTrafficLightStatusList](../ros_msgs#carlatrafficlightstatuslist)
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* <font color="80ba10"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](../ros_msgs#carlaworldinfomsg)
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<!---NODE-->
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<h4 style="margin-bottom: 5px"> <u>/rviz</u> <small><i>(Node)</i></small> </h4>
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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> — ???
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* <font color="f8815c"><b>/carla/vehicle_marker_array</b></font> — ???
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* <font color="f8815c"><b>/carla/ego_vehicle/lidar/front/point_cloud</b></font> — sensor_msgs.PointCloud2
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--------------
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##carla_manual_control.launch
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<!---NODE-->
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<h4 style="margin-bottom: 5px"> <u>/carla_manual_control_ego_vehicle</u> <small><i>(Node)</i></small> </h4>
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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
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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
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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
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* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_info</b></font> — [carla_msgs.CarlaEgoVehicleInfo](../ros_msgs#carlaegovehicleinfomsg)
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* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](../ros_msgs#carlaegovehiclestatusmsg)
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* <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> — ???
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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
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--------------
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##carla_pcl_recorder.launch
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<!---NODE-->
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||||||
|
<h4 style="margin-bottom: 5px"> <u>carla_ros_bridge</u> <small><i>(Node)</i></small> </h4>
|
||||||
|
|
||||||
|
<p style="margin-bottom:-5px"> <b>Subscribed to:</b> </p>
|
||||||
|
|
||||||
|
* <font color="f8815c"><b>/carla/debug_marker</b></font> — visualization_msgs.MarkerArray
|
||||||
|
* <font color="f8815c"><b>/carla/ego_vehicle/enable_autopilot</b></font> — ???
|
||||||
|
* <font color="f8815c"><b>/carla/ego_vehicle/twist</b></font> — geometry_msgs.Twist
|
||||||
|
* <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)
|
||||||
|
* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_control_manual_override</b></font> — std_msgs.Bool
|
||||||
|
|
||||||
|
<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)
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/camera/rgb/front/camera_info</b></font> — sensor_msgs.CameraInfo
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/camera/rgb/front/image_color</b></font> — sensor_msgs.Image
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/camera/rgb/view/camera_info</b></font> — sensor_msgs.CameraInfo
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/camera/rgb/view/image_color</b></font> — sensor_msgs.Image
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/gnss/gnss1/fix</b></font> — sensor_msgs.NavSatFix
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/imu</b></font> — sensor_msgs.Imu
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/lidar/lidar1/point_cloud</b></font> — sensor_msgs.PointCloud2
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/objects</b></font> — derived_object_msgs.ObjectArray
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/odometry</b></font> — nav_msgs.Odometry
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](../ros_msgs#carlaegovehiclestatusmsg)
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/radar/front/radar</b></font> — ainstein_radar_msgs.RadarTargetArray
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/vehicle_info</b></font> — [carla_msgs.CarlaEgoVehicleInfo](../ros_msgs#carlaegovehicleinfomsg)
|
||||||
|
* <font color="80ba10"><b>/carla/marker</b></font> — visualization_msgs.Marker
|
||||||
|
* <font color="80ba10"><b>/carla/objects</b></font> — derived_object_msgs.ObjectArrayring
|
||||||
|
* <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>
|
||||||
|
|
||||||
|
<p style="margin-bottom:-5px"> <b>Subscribed to:</b> </p>
|
||||||
|
|
||||||
|
* <font color="f8815c"><b>/carla/ego_vehicle/camera/rgb/view/image_color</b></font> — sensor_msgs.Image
|
||||||
|
* <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
|
||||||
|
* <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
|
||||||
|
* <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>
|
||||||
|
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/enable_autopilot</b></font> — ???
|
||||||
|
* <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
|
||||||
|
|
||||||
|
<!---NODE-->
|
||||||
|
<h4 style="margin-bottom: 5px"> <u>/carla_ego_vehicle_ego_vehicle</u> <small><i>(Node)</i></small> </h4>
|
||||||
|
|
||||||
|
<p style="margin-bottom:-5px"> <b>Subscribed to:</b> </p>
|
||||||
|
|
||||||
|
* <font color="f8815c"><b>/carla/ego_vehicle/initialpose</b></font> — ???
|
||||||
|
|
||||||
|
<!---NODE-->
|
||||||
|
<h4 style="margin-bottom: 5px"> <u>/enable_autopilot_rostopic</u> <small><i>(Node)</i></small> </h4>
|
||||||
|
|
||||||
|
<p style="margin-top:-10px;margin-bottom:-5px"> <b>Publishes in:</b> </p>
|
||||||
|
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/enable_autopilot</b></font> — ???
|
||||||
|
|
||||||
|
|
||||||
|
<!---NODE-->
|
||||||
|
<h4 style="margin-bottom: 5px"> <u>/pcl_recorder_node</u> <small><i>(Node)</i></small> </h4>
|
||||||
|
|
||||||
|
<p style="margin-bottom:-5px"> <b>Subscribed to:</b> </p>
|
||||||
|
|
||||||
|
* <font color="80ba10"><b>/carla/ego_vehicle/lidar/lidar1/point_cloud</b></font> — sensor_msgs.PointCloud2
|
||||||
|
|
||||||
|
--------------
|
||||||
|
##carla_waypoint_publisher.launch
|
||||||
|
|
||||||
|
<!---NODE-->
|
||||||
|
<h4 style="margin-bottom: 5px"> <u>/carla_waypoint_publisher</u> <small><i>(Node)</i></small> </h4>
|
||||||
|
|
||||||
|
<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)
|
||||||
|
|
@ -0,0 +1,258 @@
|
||||||
|
<h1>CARLA messages</h1>
|
||||||
|
|
||||||
|
The following reference lists all the CARLA messages available in the ROS bridge. These will can be used to enable communication in both ways.
|
||||||
|
Any doubts regarding these messages or the CARLA-ROS bridge can be solved in the forum:
|
||||||
|
|
||||||
|
<div class="build-buttons">
|
||||||
|
<!-- Latest release button -->
|
||||||
|
<p>
|
||||||
|
<a href="https://forum.carla.org/c/carla-ecosystem/ros-bridge" target="_blank" class="btn btn-neutral" title="Go to the CARLA Forum, ROS bridge section">
|
||||||
|
CARLA forum</a>
|
||||||
|
</p>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##CarlaActorInfo.msg
|
||||||
|
|
||||||
|
Comprises the information regarding an actor to be shared between ROS and CARLA.
|
||||||
|
The [CarlaActorList.msg](#carlaactorlist) message is a list of these items.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| ----------- | ------ | ----------- |
|
||||||
|
| `id` | uint32 | The ID of the actor. |
|
||||||
|
| `parent_id` | uint32 | The ID of the parent actor. `0` if no parent available. |
|
||||||
|
| `type` | string | ??? | <!---- What is this exactly?>
|
||||||
|
| `rolename` | string | Role assigned to the actor when spawned. |
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##CarlaActorList.msg
|
||||||
|
|
||||||
|
Contains a list of messages with some basic information for CARLA actors.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| ----------- | ---------------- | ----------- |
|
||||||
|
| `actors` | [CarlaActorInfo](#carlaactorinfomsg)[] | List of messages with actors' information. |
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##CarlaCollisionEvent.msg
|
||||||
|
|
||||||
|
Registers information regarding a collision event detected by the collision sensor of an actor.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| ---------------- | --------------------- | ----------- |
|
||||||
|
| `header` | [Header](http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html) | Time stamp and frame ID when the message is published. |
|
||||||
|
| `other_actor_id` | uint32 | ID of the actor against whom the collision was detected. |
|
||||||
|
| `normal_impulse` | geometry_msgs/Vector3 | Vector representing resulting impulse from the collision. |
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##CarlaControl.msg
|
||||||
|
|
||||||
|
These messages are used to control the simulation while in synchronous mode. The constant defined is translated as stepping commands.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| ----------- | ---- | ----------- |
|
||||||
|
| `command` | int8 | __PLAY__=0, __PAUSE__=1, __STEP_ONCE__=2 |
|
||||||
|
|
||||||
|
!!! Important
|
||||||
|
In synchronous mode, only the ROS bridge client is allowed to tick.
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##CarlaEgoVehicleControl.msg
|
||||||
|
|
||||||
|
Messages sent to apply a control to a vehicle in both modes, normal and manual. These are published in a stack.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| ------------------- | ------- | ----------- |
|
||||||
|
| `header` | [Header](http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html) | Time stamp and frame ID when the message is published. |
|
||||||
|
| `throttle` | float32 | Scalar value to cotrol the vehicle throttle: __[0.0,1.0]__ |
|
||||||
|
| `steer` | float32 | Scalar value to control the vehicle steering direction: __[-1.0,1.0]__ to control the vehicle steering |
|
||||||
|
| `brake` | float32 | Scalar value to control the vehicle brakes: __[0.0,1.0]__ |
|
||||||
|
| `hand_brake` | bool | If true, the hand brake is enabled. |
|
||||||
|
| `reverse` | bool | If true, the vehicle will move reverse. |
|
||||||
|
| `gear` | int32 | Changes between the available gears in a vehicle. |
|
||||||
|
| `manual_gear_shift` | bool | If ture, the gears will be shifted using `gear`. |
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##CarlaEgoVehicleInfo.msg
|
||||||
|
|
||||||
|
Contains some static information regarding a vehicle, mostly the attributes that used to define its physics.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| --------------------------------------------- | ------------------------------------------------------- | ----------- |
|
||||||
|
| `id` | uint32 | ID of the vehicle actor. |
|
||||||
|
| `type` | string | ??? | <!---- What is this exactly?>
|
||||||
|
| `rolename` | string | Role assigned to the vehicle. |
|
||||||
|
| `wheels` | [CarlaEgoVehicleInfoWheel](#carlaegovehicleinfowheel)[] | List of messages with information regarding wheels. |
|
||||||
|
| `max_rpm` | float32 | Maximum RPM of the vehicle's engine. |
|
||||||
|
| `moi` | float32 | Moment of inertia of the vehicle's engine. |
|
||||||
|
| `damping_rate_full_throttle` | float32 | Damping rate when the throttle is at maximum. |
|
||||||
|
| `damping_rate_zero_throttle_clutch_engaged` | float32 | Damping rate when the throttle is zero with clutch engaged. |
|
||||||
|
| `damping_rate_zero_throttle_clutch_disengaged`| float32 | Damping rate when the throttle is zero with clutch disengaged. |
|
||||||
|
| `use_gear_autobox` | bool | If true, the vehicle will have an automatic transmission. |
|
||||||
|
| `gear_switch_time` | float32 | Switching time between gears. |
|
||||||
|
| `clutch_strength` | float32 | The clutch strength of the vehicle. Measured in Kgm^2/s. |
|
||||||
|
| `mass` | float32 | The mass of the vehicle measured in Kg. |
|
||||||
|
| `drag_coefficient` | float32 | Drag coefficient of the vehicle's chassis. |
|
||||||
|
| `center_of_mass` | geometry_msgs/Vector3 | The center of mass of the vehicle. |
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##CarlaEgoVehicleInfoWheel.msg
|
||||||
|
|
||||||
|
Contains some static information regarding a wheel that will be part of a [CarlaEgoVehicleInfo.msg](#carlaegovehicleinfo) message.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| ---------------------- | --------------------- | ----------- |
|
||||||
|
| `tire_friction` | float32 | A scalar value that indicates the friction of the wheel. |
|
||||||
|
| `damping_rate` | float32 | The damping rate of the wheel. |
|
||||||
|
| `max_steer_angle` | float32 | The maximum angle in degrees that the wheel can steer. |
|
||||||
|
| `radius` | float32 | The radius of the wheel in centimeters. |
|
||||||
|
| `max_brake_torque` | float32 | The maximum brake torque in Nm. |
|
||||||
|
| `max_handbrake_torque` | float32 | The maximum handbrake torque in Nm. |
|
||||||
|
| `position` | gemoetry_msgs/Vector3 | World position of the wheel. |
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##CarlaEgoVehicleStatus.msg
|
||||||
|
|
||||||
|
Details the current status of the vehicle as an object in the world.
|
||||||
|
|
||||||
|
| Fied | Type | Description |
|
||||||
|
| ------------- | ------------------------------------------------- | ----------- |
|
||||||
|
| `header` | [Header](http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html) | Time stamp and frame ID when the message is published. |
|
||||||
|
| `velocity` | float32 | Current speed of the vehicle. |
|
||||||
|
| `acceleration`| geometry_msgs/Accel | Current acceleration of the vehicle. |
|
||||||
|
| `orientation` | geometry_msgs/Quaternion | Current orientation of the vehicle. |
|
||||||
|
| `control` | [CarlaEgoVehicleControl](#carlaegovehiclecontrol) | Current control values as reported by CARLA. |
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##CarlaLaneInvasionEvent.msg
|
||||||
|
|
||||||
|
These messages are used to publish lane invasions detected by a lane-invasion sensor attached to a vehicle. The invasions detected in the last step are passed as a list with a constant definition to identify the lane crossed.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| ----------------------- | ------- | ----------- |
|
||||||
|
| `header` | [Header](http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html) | Time stamp and frame ID when the message is published. |
|
||||||
|
| `crossed_lane_markings` | int32[] | __LANE_MARKING_OTHER__=0 <br> __LANE_MARKING_BROKEN__=1 <br> __LANE_MARKING_SOLID__=2 |
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##CarlaStatus.msg
|
||||||
|
|
||||||
|
Details the current world settings of hte simulation.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| -------------------------- | ------- | ----------------------------- |
|
||||||
|
| `frame` | uint64 | Current framen umber. |
|
||||||
|
| `fixed_delta_seconds` | float32 | Simulation time between last and current step. |
|
||||||
|
| `synchronous_mode` | bool | If true, synchronous mode is enabled. |
|
||||||
|
| `synchronous_mode_running` | bool | ??? | <!---- What is this exactly?>
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##CarlaTrafficLightStatus.msg
|
||||||
|
|
||||||
|
Contains a constant definition regarding the state of a traffic light.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| -------------------------- | ------- | ----------------------------------------- |
|
||||||
|
| `id` | uint32 | ID of the traffic light actor. ??? | <!---- Contains also pole and group??>
|
||||||
|
| `state` | uint8 | __RED__=0,__YELLOW__=1, __GREEN__=2, __OFF__=3, __UNKNOWN__=4 |
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##CarlaTrafficLightStatusList.msg
|
||||||
|
|
||||||
|
Comprises a list of all traffic lights with their status.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| ---------------- | ----------------------------------------------------- | ---------------- |
|
||||||
|
| `traffic_lights` | [CarlaTrafficLightStatus](#carlatrafficlightstatus)[] | A list of messages summarizing traffic light states. |
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##CarlaWalkerControl.msg
|
||||||
|
|
||||||
|
Contains the information needed to apply a movement controller to a walker.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| ----------- | ---------------------- | ----------------------------- |
|
||||||
|
| `direction` | geometry_msgs/Vector3 | Vector that controls the direction of the walker. |
|
||||||
|
| `speed` | float32 | A scalar value to control the walker's speed. |
|
||||||
|
| `jump` | bool | If true, the walker will jump. |
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##CarlaWorldInfo.msg
|
||||||
|
|
||||||
|
Information about the current CARLA map (name and OpenDRIVE).
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| ----------- | ------- | ----------------------------- |
|
||||||
|
| `map_name` | string | Name of the CARLA map loaded in the current world. ??? | <!---- Is it? Or OpenDRIVE name file?>
|
||||||
|
| `opendrive` | string | ??? | <!---- Namefile of the OpenDRIVE map, whole map parsed as string or what??>
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##EgoVehicleControlCurrent.msg
|
||||||
|
|
||||||
|
Represents the current time and the speed and acceleration values of the vehicle used by the controller. It is part of a `Carla_Ackermann_Control.EgoVehicleControlInfo.msg` message.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| ----------- | -------- | ----------------------------- |
|
||||||
|
| `time_sec` | float32 | Current time when the controller is applied. |
|
||||||
|
| `speed` | float32 | Current speed applied by the controller. |
|
||||||
|
| `speed_abs` | float32 | ??? | <!---- what?>
|
||||||
|
| `accel` | float32 | Current acceleration applied by the controller. |
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##EgoVehicleControlInfo.msg
|
||||||
|
|
||||||
|
Contains all the current values used within an Ackermann controller. These messages are useful for debugging.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| -------------- | ----------------------------------------------------------------------- | ------------------------------ |
|
||||||
|
| `header` | [Header](http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html) | Time stamp and frame ID when the message is published. |
|
||||||
|
| `restrictions` | [EgoVehicleControlMaxima](#egovehiclecontrolmaximamsg) | Limits to the controller values. |
|
||||||
|
| `target` | [EgoVehicleControlTarget](#egovehiclecontroltargetmsg) | Target values the controller aims for. |
|
||||||
|
| `current` | [EgoVehicleControlCurrent](#egovehiclecontrolcurrentmsg) | Currently measured values. |
|
||||||
|
| `status` | [EgoVehicleControlStatus](#egovehiclecontrolstatusmsg) | Current control status. |
|
||||||
|
| `output` | [CarlaEgoVehicleControl](#carlaegovehiclecontrolmsg) | Output controller that will be applied in CARLA. |
|
||||||
|
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##EgoVehicleControlMaxima.msg
|
||||||
|
|
||||||
|
Represents the maximum values that restrict the controller. It is part of a `Carla_Ackermann_Control.EgoVehicleControlInfo.msg` message.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| -------------------- | -------- | ----------------------------- |
|
||||||
|
| `max_steering_angle` | float32 | Max. steering angle permitted to the controller. |
|
||||||
|
| `max_speed` | float32 | Max. speed permitted to the controller. |
|
||||||
|
| `max_accel` | float32 | Max. acceleration permitted to the controller. |
|
||||||
|
| `max_decel` | float32 | ??? |<!---- what?>
|
||||||
|
| `min_accel` | float32 | ??? |<!---- what?>
|
||||||
|
| `max_pedal` | float32 | ??? |<!---- what?>
|
||||||
|
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##EgoVehicleControlStatus.msg
|
||||||
|
|
||||||
|
Represents the current status of the ego vehicle controller. It is part of a `Carla_Ackermann_Control.EgoVehicleControlInfo.msg` message.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| -------------------------------- | ------- | ----------------------------- |
|
||||||
|
| `status` | string | ??? Current control status. |<!---- what?>
|
||||||
|
| `speed_control_activation_count` | uint8 | ??? Speed controller. |<!---- what?>
|
||||||
|
| `speed_control_accel_delta` | float32 | ??? Speed controller. |<!---- what?>
|
||||||
|
| `speed_control_accel_target` | float32 | ??? Speed controller. |<!---- what?>
|
||||||
|
| `accel_control_pedal_delta` | float32 | ??? Acceleration controller. |<!---- what?>
|
||||||
|
| `accel_control_pedal_delta` | float32 | ??? Acceleration controller. |<!---- what?>
|
||||||
|
| `brake_upper_border` | float32 | ??? Borders for lay off pedal. |<!---- what?>
|
||||||
|
| `throttle_lower_border` | float32 | ??? Borders for lay off pedal. |<!---- what?>
|
||||||
|
|
||||||
|
|
||||||
|
---------------
|
||||||
|
##EgoVehicleControlTarget.msg
|
||||||
|
|
||||||
|
Represents the target vallues for the variables of the ego vehicle controller. It is part of a `Carla_Ackermann_Control.EgoVehicleControlInfo.msg` message.
|
||||||
|
|
||||||
|
| Field | Type | Description |
|
||||||
|
| ---------------- | -------- | ----------------------------- |
|
||||||
|
| `steering_angle` | float32 | Target steering angle for the controller. |
|
||||||
|
| `speed` | float32 | Target speed for the controller. |
|
||||||
|
| `speed_abs` | float32 | ??? | <!---- what?>
|
||||||
|
| `accel` | float32 | Target acceleration for the controller. |
|
||||||
|
| `jerk` | float32 | Target jerk for the controller. |
|
||||||
|
|
@ -53,7 +53,9 @@ nav:
|
||||||
- 'Generate pedestrian navigation': 'tuto_D_generate_pedestrian_navigation.md'
|
- 'Generate pedestrian navigation': 'tuto_D_generate_pedestrian_navigation.md'
|
||||||
- ROS bridge:
|
- ROS bridge:
|
||||||
- 'ROS bridge installation': 'ros_installation.md'
|
- 'ROS bridge installation': 'ros_installation.md'
|
||||||
- 'Supported features': 'ros_topics_ref.md'
|
- 'Messages reference': 'ros_msgs.md'
|
||||||
|
- 'Launch reference': 'ros_launchs.md'
|
||||||
|
#- 'Supported features': 'ros_topics_ref.md'
|
||||||
- Contributing:
|
- Contributing:
|
||||||
- 'Contribution guidelines': 'cont_contribution_guidelines.md'
|
- 'Contribution guidelines': 'cont_contribution_guidelines.md'
|
||||||
- 'Code of conduct': 'cont_code_of_conduct.md'
|
- 'Code of conduct': 'cont_code_of_conduct.md'
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue