First draft
This commit is contained in:
sergi-e
Marc Garcia Puig
parent
2b29bc24ef
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b27d5d10c3
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<h1>ROS bridge installation</h1>
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* [__Requirements__](#requirements)
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* [__Bridge installation__](#bridge-installation)
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* a) apt-get ROS bridge
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* b) Repository download
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* Import error: No module named CARLA
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* [__Run the ROS bridge__](#run-the-ros-bridge)
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* [__Settings__](#settings)
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The ROS bridge enables communication between ROS and CARLA so that both softwares can reach full potential by combining their features.
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---------------
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##Requirements
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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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* __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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!!! Important
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Make sure that both CARLA and ROS work properly before continuing with the installation.
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---------------
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##Bridge installation
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<h4>a) apt-get ROS bridge</h4>
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First add the apt repository
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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 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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Then simply install the ROS bridge:
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```sh
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sudo apt-get update &&
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sudo apt-get install carla-ros-bridge
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```
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<h4>b) Repository download</h4>
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In order to work use the ROS bridge, first create a catkin workspace, instal the ROS bridge in there and build it to be available:
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```sh
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#setup folder structure
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mkdir -p ~/carla-ros-bridge/catkin_ws/src
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cd ~/carla-ros-bridge
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git clone https://github.com/carla-simulator/ros-bridge.git
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cd catkin_ws/src
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ln -s ../../ros-bridge
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source /opt/ros/kinetic/setup.bash
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cd ..
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#install required ros-dependencies
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rosdep update
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rosdep install --from-paths src --ignore-src -r
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#build
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catkin_make
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```
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<h4>ImportError: no module named CARLA</h4>
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The path to CARLA Python is missing. Please execute the following command with the complete path to the _.egg_ file (included). Use the one, that is supported by the Python version installed:
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export PYTHONPATH=$PYTHONPATH:<path/to/carla/>/PythonAPI/<your_egg_file>
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!!! Note
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_.egg_ files may be either in `/PythonAPI/` or `/PythonAPI/dist/` depending on the CARLA installation.
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To check the installation, import CARLA from Python and wait for a sucess message:
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```sh
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python -c 'import carla;print("Success")'
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```
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---------------
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##Run the ROS bridge
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__1) run CARLA:__ the way to do so will depend on the the CARLA installation chosen, so here is a brief summary:
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* __Quick start/release package:__ run `./CarlaUE4.sh` in `/carla/`.
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* __apt-get installation:__ run `./CarlaUE4.sh` in `/opt/carla/bin/`.
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* __Build installation:__ run `make launch` in `/carla/`.
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__2) __ The way to do so will depend on the the CARLA installation chosen, so here is a brief summary:
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```sh
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export PYTHONPATH=$PYTHONPATH:<path/to/carla/>/PythonAPI/<your_egg_file>
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source ~/carla-ros-bridge/catkin_ws/devel/setup.bash
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```
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__3) start the ROS bridge:__ use any of the different packages available that will serve to check if the bridge is running properly. Here are some suggestions:
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```sh
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# Option 1: start the ros bridge
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roslaunch carla_ros_bridge carla_ros_bridge.launch
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# Option 2: start the ros bridge together with RVIZ
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roslaunch carla_ros_bridge carla_ros_bridge_with_rviz.launch
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# Option 3: start the ros bridge together with an example ego vehicle
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roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch
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```
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---------------
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##Settings
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There is some configuration for CARLA available from the ROS bridge. This can be setup by editing the file: [`carla_ros_bridge/config/settings.yaml`](https://github.com/carla-simulator/ros-bridge/blob/master/carla_ros_bridge/config/settings.yaml).
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The parameters available refer to:
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* __Ego vehicle:__ the list in `/carla/ego_vehicle/rolename` sets role names to identify ego vehicles. These will be controllable from ROS and thus, relevant topics will be created.
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* __Host/port:__ the network settings to connect to CARLA using a Python client.
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* __Simulation time-step:__ simulation time (delta seconds) between simulation steps. __It must be lower than 0.1__. Take a look at the [documentation](../simulation_time_and_synchrony) to learn more about this.
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* __Synchronous mode:__
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* __If false (default):__ data is published on every `world.on_tick()` and every `sensor.listen()` callbacks.
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* __If true:__ the bridge waits for all sensor data that is expected within the current frame. This might slow down the overall simulation but ensures reproducible results.
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* __Wait for vehicle command:__ in synchronous mode, this boolean determines if a vehicle command should be received before executing the next tick.
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!!! Warning
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In synchronous mode, only the ros-bridge is allowed to tick. Other CARLA clients must passively wait.
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<h4>Synchronous mode</h4>
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* Pause/Play
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* Execute single step
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The following topic allows to control the stepping.
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| Topic | Type |
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| ---------------- | ----------------------- |
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| `/carla/control` | carla_msgs.CarlaControl |
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A CARLA [Control rqt plugin](https://github.com/carla-simulator/ros-bridge/blob/master/rqt_carla_control/README.md) is available to publish to the topic.
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@ -0,0 +1,187 @@
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<h1>Supported features</h1>
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The ROS bridge enables communication between ROS and CARLA so that both softwares can reach full potential by combining their features.
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* [__Listed features__](#listed-features)
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* [__ROS packages__](#ros_packages)
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* [__ROS topics__](#ros_topics)
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---------------
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##Listed features
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* __Sensors:__
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* Lidar.
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* Cameras (depth, RGB and segmentation).
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* __Messages:__
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* Transform publications.
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* Manual control using Ackerman msg.
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* Marker/bounding box messages for cars/pedestirans.
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* __Other:__
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* Synchronous mode in CARLA.
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* Handling ROS dependencies.
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* Add traffic lights.
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---------------
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##ROS packages
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<h4> CARLA ego vehicle </h4>
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`carla_ego_vehicle` provides a generic way to spawn an ego vehicle and attach sensors to it. You can find further documentation [here](carla_ego_vehicle/README.md).
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<h4> CARLA infrastructure sensors </h4>
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`carla_infrastructure` provides a generic way to spawn a set of infrastructure sensors defined in a config file. You can find further documentation [here](carla_infrastructure/README.md).
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<h4> Waypoint calculation </h4>
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To make use of the Carla waypoint calculation a ROS Node is available to get waypoints. You can find further documentation [here](carla_waypoint_publisher/README.md).
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---------------
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##ROS topics
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<h4> Synchronous mode </h4>
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It is possible to control the simulation execution:
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- Pause/Play
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- Execute single step
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The following topic allows to control the stepping.
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| Topic | Type |
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| ---------------- | ---------------------------------------------------------- |
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| `/carla/control` | [carla_msgs.CarlaControl](carla_msgs/msg/CarlaControl.msg) |
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A [CARLA Control rqt plugin](rqt_carla_control/README.md) is available to publish to the topic.
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<h4> Ego Vehicle </h4>
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<h5> Sensors </h5>
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The ego vehicle sensors are provided via topics with prefix /carla/ego_vehicle/<sensor_topic>
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Currently the following sensors are supported:
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Publish GNSS location, collision events...
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| Sensor | Topic | Type |
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| | -------------------------------------------------------------- | -------------------------------------------------------------------------------------- |
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| __Camera__ | `/carla/<ROLE NAME>/camera/rgb/<SENSOR ROLE NAME>/image_color` | [sensor_msgs.Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html) |
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| __Camera__ | `/carla/<ROLE NAME>/camera/rgb/<SENSOR ROLE NAME>/camera_info` | [sensor_msgs.CameraInfo](http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html) |
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| __Lidar__ | `/carla/<ROLE NAME>/lidar/<SENSOR ROLE NAME>/point_cloud` | [sensor_msgs.PointCloud2](http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html) |
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| __Radar__ | `/carla/<ROLE NAME>/radar/<SENSOR ROLE NAME>/radar` | [ainstein_radar_msgs.RadarTargetArray](https://github.com/AinsteinAI/ainstein_radar/blob/master/ainstein_radar_msgs/msg/RadarTargetArray.msg) |
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| __IMU__ | `/carla/<ROLE NAME>/imu` | [sensor_msgs.Imu](https://docs.ros.org/melodic/api/sensor_msgs/html/msg/Imu.html) |
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| __GNSS__ | `/carla/<ROLE NAME>/gnss/<SENSOR ROLE NAME>/fix` | [sensor_msgs.NavSatFix](http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html) |
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| __Collision__ | `/carla/<ROLE NAME>/collision` | [carla_msgs.CarlaCollisionEvent](carla_msgs/msg/CarlaCollisionEvent.msg) |
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|__Lane invasion__ | `/carla/<ROLE NAME>/lane_invasion` | [carla_msgs.CarlaLaneInvasionEvent](carla_msgs/msg/CarlaLaneInvasionEvent.msg) |
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!!! Note
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Radar data can be visualized on rviz using [ainstein_radar_rviz_plugins](https://wiki.ros.org/ainstein_radar_rviz_plugins).
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<h5> Object sensor </h5>
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| Topic | Type | Description |
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| ---------------------------- | -------------------------------------------------------------------------------------------------------- | ------------------------------------------------ |
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| `/carla/<ROLE NAME>/objects` | [derived_object_msgs.ObjectArray](http://docs.ros.org/api/derived_object_msgs/html/msg/ObjectArray.html) | all vehicles and walkers, except the ego vehicle |
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<h5> Control </h5>
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| Topic | Type |
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| ----------------------------------------------------------------- | ------------------------------------------------------------------------------ |
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| `/carla/<ROLE NAME>/vehicle_control_cmd` (subscriber) | [carla_msgs.CarlaEgoVehicleControl](carla_msgs/msg/CarlaEgoVehicleControl.msg) |
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| `/carla/<ROLE NAME>/vehicle_control_cmd_manual` (subscriber) | [carla_msgs.CarlaEgoVehicleControl](carla_msgs/msg/CarlaEgoVehicleControl.msg) |
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| `/carla/<ROLE NAME>/vehicle_control_manual_override` (subscriber) | [std_msgs.Bool](http://docs.ros.org/api/std_msgs/html/msg/Bool.html) |
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| `/carla/<ROLE NAME>/vehicle_status` | [carla_msgs.CarlaEgoVehicleStatus](carla_msgs/msg/CarlaEgoVehicleStatus.msg) |
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| `/carla/<ROLE NAME>/vehicle_info` | [carla_msgs.CarlaEgoVehicleInfo](carla_msgs/msg/CarlaEgoVehicleInfo.msg) |
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There are two modes to control the vehicle.
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1. Normal Mode (reading commands from `/carla/<ROLE NAME>/vehicle_control_cmd`)
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2. Manual Mode (reading commands from `/carla/<ROLE NAME>/vehicle_control_cmd_manual`)
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This allows to manually override a Vehicle Control Commands published by a software stack. You can toggle between the two modes by publishing to `/carla/<ROLE NAME>/vehicle_control_manual_override`.
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[carla_manual_control](carla_manual_control/) makes use of this feature.
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For testing purposes, you can stear the ego vehicle from the commandline by publishing to the topic `/carla/<ROLE NAME>/vehicle_control_cmd`.
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Examples for a ego vehicle with role_name 'ego_vehicle':
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Max forward throttle:
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rostopic pub /carla/ego_vehicle/vehicle_control_cmd carla_msgs/CarlaEgoVehicleControl "{throttle: 1.0, steer: 0.0}" -r 10
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Max forward throttle with max steering to the right:
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rostopic pub /carla/ego_vehicle/vehicle_control_cmd carla_msgs/CarlaEgoVehicleControl "{throttle: 1.0, steer: 1.0}" -r 10
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The current status of the vehicle can be received via topic `/carla/<ROLE NAME>/vehicle_status`.
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Static information about the vehicle can be received via `/carla/<ROLE NAME>/vehicle_info`
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<h6> Sensors </h6>
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| Topic | Type |
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| ------------------------------------------- | -------------------------------------------------------------------------------- |
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| `/carla/<ROLE NAME>/twist_cmd` (subscriber) | [geometry_msgs.Twist](http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html) |
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CAUTION: This control method does not respect the vehicle constraints. It allows movements impossible in the real world, like flying or rotating.
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You can also control the vehicle via publishing linear and angular velocity within a Twist datatype.
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Currently this method applies the complete linear vector, but only the yaw from angular vector.
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<h6> Ackermann control </h6>
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In certain cases, the [Carla Control Command](carla_msgs/msg/CarlaEgoVehicleControl.msg) is not ideal to connect to an AD stack.
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Therefore a ROS-based node `carla_ackermann_control` is provided which reads [AckermannDrive](http://docs.ros.org/api/ackermann_msgs/html/msg/AckermannDrive.html) messages.
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You can find further documentation [here](carla_ackermann_control/README.md).
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<h4> Other actors </h4>
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| Topic | Type | Description |
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| ------------------- | -------------------------------------------------------------------------------------------------------- | ------------------------------------- |
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| `/carla/objects` | [derived_object_msgs.ObjectArray](http://docs.ros.org/api/derived_object_msgs/html/msg/ObjectArray.html) | all vehicles and walkers |
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| `/carla/marker` | [visualization_msgs.Marker](http://docs.ros.org/api/visualization_msgs/html/msg/Marker.html) | visualization of vehicles and walkers |
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| `/carla/actor_list` | [carla_msgs.CarlaActorList](carla_msgs/msg/CarlaActorList.msg) | list of all carla actors |
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| `/carla/traffic_lights` | [carla_msgs.CarlaTrafficLightStatusList](carla_msgs/msg/CarlaTrafficLightStatusList.msg) | list of all traffic lights with their status |
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<h4> Status of CARLA </h4>
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| Topic | Type | Description |
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| ------------------- | -------------------------------------------------------------- | ------------------------------------------------------ |
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| `/carla/status` | [carla_msgs.CarlaStatus](carla_msgs/msg/CarlaStatus.msg) | |
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| `/carla/world_info` | [carla_msgs.CarlaWorldInfo](carla_msgs/msg/CarlaWorldInfo.msg) | Info about the CARLA world/level (e.g. OPEN Drive map) |
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<h4> Walkers </h4>
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| Topic | Type | Description |
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| ---------------------------------------------------- | ---------------------------------------------------------------------------- | ------------------ |
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| `/carla/walker/<ID>/walker_control_cmd` (subscriber) | [carla_msgs.CarlaWalkerControl](carla_msgs/msg/CarlaWalkerControl.msg) | Control a walker |
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| `/carla/walker/<ID>/odometry` | [nav_msgs.Odometry](http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html) | odometry of walker |
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<h4> Other vehicles </h4>
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| Topic | Type | Description |
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| ------------------------------ | ---------------------------------------------------------------------------- | ------------------- |
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| `/carla/vehicle/<ID>/odometry` | [nav_msgs.Odometry](http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html) | odometry of vehicle |
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<h4> Debug marker </h4>
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It is possible to draw markers in CARLA.
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Caution: Markers might affect the data published by sensors.
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The following markers are supported in 'map'-frame:
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- Arrow (specified by two points)
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- Points
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- Cube
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- Line Strip
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| Topic | Type | Description |
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| ---------------------------------- | ------------------------------------------------------------------------------------------------------ | --------------------------- |
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| `/carla/debug_marker` (subscriber) | [visualization_msgs.MarkerArray](http://docs.ros.org/api/visualization_msgs/html/msg/MarkerArray.html) | draw markers in CARLA world |
|
||||||
|
|
@ -2,6 +2,8 @@
|
||||||
|
|
||||||
* [Requirements](#requirements)
|
* [Requirements](#requirements)
|
||||||
* [Downloading CARLA](#downloading-carla)
|
* [Downloading CARLA](#downloading-carla)
|
||||||
|
* a) apt-get installation
|
||||||
|
* b) Repository download
|
||||||
* [Running CARLA](#running-carla)
|
* [Running CARLA](#running-carla)
|
||||||
* Command-line options
|
* Command-line options
|
||||||
* [Updating CARLA](#updating-carla)
|
* [Updating CARLA](#updating-carla)
|
||||||
|
|
@ -25,6 +27,25 @@ If you have [pip](https://pip.pypa.io/en/stable/installing/) in your system, you
|
||||||
---
|
---
|
||||||
## Downloading CARLA
|
## Downloading CARLA
|
||||||
|
|
||||||
|
There is an __apt repository__ for CARLA 0.9.7. This is the easiest way to get that release in Linux.
|
||||||
|
To get another release in Linux or install CARLA in Windows: __download the repository__.
|
||||||
|
Both methods will set CARLA ready to run.
|
||||||
|
|
||||||
|
<h4>a) apt-get CARLA 0.9.7</h4>
|
||||||
|
|
||||||
|
First, add the repository to the system:
|
||||||
|
```sh
|
||||||
|
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys DB53A429E64554FC &&
|
||||||
|
sudo add-apt-repository "deb [trusted=yes] http://34.227.255.250/carla-0.9.7/ bionic main"
|
||||||
|
```
|
||||||
|
Then, simply install it. CARLA will be in the `/opt/` folder, where other software such as ROS install themselves:
|
||||||
|
```sh
|
||||||
|
sudo apt-get update
|
||||||
|
sudo apt-get install carla
|
||||||
|
```
|
||||||
|
|
||||||
|
<h4>b) Downloading the repository</h4>
|
||||||
|
|
||||||
<div class="build-buttons">
|
<div class="build-buttons">
|
||||||
<p>
|
<p>
|
||||||
<a href="https://github.com/carla-simulator/carla/blob/master/Docs/download.md" target="_blank" class="btn btn-neutral" title="Go to the latest CARLA release">
|
<a href="https://github.com/carla-simulator/carla/blob/master/Docs/download.md" target="_blank" class="btn btn-neutral" title="Go to the latest CARLA release">
|
||||||
|
|
@ -58,6 +79,8 @@ Linux:
|
||||||
Windows:
|
Windows:
|
||||||
CarlaUE4.exe
|
CarlaUE4.exe
|
||||||
```
|
```
|
||||||
|
!!! Important
|
||||||
|
In the __apt-get__ installation, `CarlaUE4.sh` can be found in `/opt/carla/bin/`, instead of the main `/carla/` folder where it normally is.
|
||||||
|
|
||||||
A window will open, containing a view over the city. This is the "spectator" view. To fly around the city use the mouse and WASD keys (while clicking). The simulator is now running as a server, waiting for a client app to connect and interact with the world.
|
A window will open, containing a view over the city. This is the "spectator" view. To fly around the city use the mouse and WASD keys (while clicking). The simulator is now running as a server, waiting for a client app to connect and interact with the world.
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -51,6 +51,9 @@ nav:
|
||||||
- 'Create a sensor': 'tuto_D_create_sensor.md'
|
- 'Create a sensor': 'tuto_D_create_sensor.md'
|
||||||
- 'Make a release': 'tuto_D_make_release.md'
|
- 'Make a release': 'tuto_D_make_release.md'
|
||||||
- 'Generate pedestrian navigation': 'tuto_D_generate_pedestrian_navigation.md'
|
- 'Generate pedestrian navigation': 'tuto_D_generate_pedestrian_navigation.md'
|
||||||
|
- ROS bridge:
|
||||||
|
- 'ROS bridge installation': 'ros_installation.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