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2
Docs/adv_recorder.md
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@ -5,7 +5,7 @@ This feature allows to record and reenact a previous simulation. All the events
* [__Recording__](#recording)
* [__Simulation playback__](#simulation-playback)
* Setting a time factor
* [__Recorded file__](#unreal-engine)
* [__Recorded file__](#recorded-file)
* [__Queries__](#queries)
* Collisions
* Blocked actors

2
Docs/cont_contribution_guidelines.md
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@ -18,7 +18,7 @@ issue is not already reported, and make sure you have read our
[issueslink]: https://github.com/carla-simulator/carla/issues
[docslink]: http://carla.readthedocs.io
[faqlink]: http://carla.readthedocs.io/en/latest/faq/
[faqlink]: build_faq.md
---
## Feature requests

6
Docs/core_actors.md
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@ -206,7 +206,7 @@ if traffic_light.get_state() == carla.TrafficLightState.Red:
[__carla.Vehicle__](python_api.md#carla.Vehicle) are a special type of actor. They are remarkable for having better physics. This is achieved applying four types of different controls.
* __[carla.VehicleControl](python_api.md#carla.VehiclePhysicsControl)__ provides input for driving commands such as throttle, steering, brake, etc.
* __[carla.VehicleControl](python_api.md#carla.VehicleControl)__ provides input for driving commands such as throttle, steering, brake, etc.
```py
vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=-1.0))
```
@ -247,8 +247,8 @@ vehicle.set_light_state(current_lights)
[__carla.Walker__](python_api.md#carla.Walker) work in a similar way as vehicles do. Control over them is provided by controllers.
* [__carla.WalkerControl__](python_api.md#carla.Walker) moves the pedestrian around with a certain direction and speed. It also allows them to jump.
* [__carla.WalkerBoneControl__](python_api.md#carla.Walker) provides control over the 3D skeleton. [This tutorial](tuto_G_control_walker_skeletons.md) explains how to control it.
* [__carla.WalkerControl__](python_api.md#carla.WalkerControl) moves the pedestrian around with a certain direction and speed. It also allows them to jump.
* [__carla.WalkerBoneControl__](python_api.md#carla.WalkerBoneControl) provides control over the 3D skeleton. [This tutorial](tuto_G_control_walker_skeletons.md) explains how to control it.
Walkers can be AI controlled. They do not have an autopilot mode. The [__carla.WalkerAIController__](python_api.md#carla.WalkerAIController) actor moves around the actor it is attached to.

4
Docs/core_map.md
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@ -36,7 +36,7 @@ print(client.get_available_maps())
The lane types defined by [OpenDRIVE standard 1.4](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf) are translated to the API in [__carla.LaneType__](python_api.md#carla.LaneType) as a series of enum values.
The lane markings surrounding a lane can be accessed through [__carla.LaneMarking__](python_api.md#carla.LaneMarkingType). These are defined with a series of variables.
The lane markings surrounding a lane can be accessed through [__carla.LaneMarking__](python_api.md#carla.LaneMarking). These are defined with a series of variables.
* [__carla.LaneMarkingType__](python_api.md#carla.LaneMarkingType) are enum values according to OpenDRIVE standards.
* [__carla.LaneMarkingColor__](python_api.md#carla.LaneMarkingColor) are enum values to determine the color of the marking.
@ -137,7 +137,7 @@ waypoint_list = map.generate_waypoints(2.0)
waypoint_tuple_list = map.get_topology()
```
* __Convert simulation point to geographical coordinates.__ Transforms a certain location to a [carla.Geolocation](python_api.md#carla.Geolocation) with latitude and longitude values.
* __Convert simulation point to geographical coordinates.__ Transforms a certain location to a [carla.GeoLocation](python_api.md#carla.GeoLocation) with latitude and longitude values.
```py
my_geolocation = map.transform_to_geolocation(vehicle.transform)
```

6
Docs/core_sensors.md
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@ -209,7 +209,7 @@ Thus concludes the introduction to CARLA. However there is yet a lot to learn.
<div class="build-buttons">
<p>
<a href="ref_code_recipes.md" target="_blank" class="btn btn-neutral" title="Code recipes">
<a href="../ref_code_recipes" target="_blank" class="btn btn-neutral" title="Code recipes">
Code recipes</a>
</p>
</div>
@ -218,7 +218,7 @@ Code recipes</a>
<div class="build-buttons">
<p>
<a href="adv_synchrony_timestep.md" target="_blank" class="btn btn-neutral" title="Synchrony and time-step">
<a href="../adv_synchrony_timestep" target="_blank" class="btn btn-neutral" title="Synchrony and time-step">
Synchrony and time-step</a>
</p>
</div>
@ -227,7 +227,7 @@ Synchrony and time-step</a>
<div class="build-buttons">
<p>
<a href="python_api.md" target="_blank" class="btn btn-neutral" title="Python API reference">
<a href="../python_api" target="_blank" class="btn btn-neutral" title="Python API reference">
Python API reference</a>
</p>
</div>

2
Docs/core_world.md
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@ -2,7 +2,7 @@
The client and the world are two of the fundamentals of CARLA, a necessary abstraction to operate the simulation and its actors.
This tutorial goes from defining the basics and creation of these elements, to describing their possibilities. If any doubt or issue arises during the reading, the [CARLA forum](forum.carla.org/) is there to solve them.
This tutorial goes from defining the basics and creation of these elements, to describing their possibilities. If any doubt or issue arises during the reading, the [CARLA forum](https://forum.carla.org/) is there to solve them.
* [__The client__](#the-client)
* Client creation

4
Docs/ros_installation.md
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@ -14,7 +14,7 @@ The ROS bridge enables two-way communication between ROS and CARLA. The informat
### ROS Kinetic/Melodic
* __ROS Kinetic/Melodic.__ Install ROS [Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu), for Ubuntu 18.04, or [Kinetic](http://wiki.ros.org/kinetic/Installation), for Ubuntu 16.04. ROS packages may be required, depending on the user needs. [rviz](http://wiki.ros.org/rviz) to visualize ROS data.
* __CARLA 0.9.7 or later.__ Previous versions are not compatible with the ROS bridge. Follow the [quick start installation](../getting_started/quickstart) or make the build for the corresponding platform.
* __CARLA 0.9.7 or later.__ Previous versions are not compatible with the ROS bridge. Follow the [quick start installation](start_quickstart.md) or make the build for the corresponding platform.
!!! Important
Make sure that both CARLA and ROS work properly before continuing with the installation.
@ -132,7 +132,7 @@ To modify the way CARLA works along with the ROS bridge, edit [`share/carla_ros_
* __If false (default).__ Data is published on every `world.on_tick()` and every `sensor.listen()` callbacks.
* __If true__ The bridge waits for all the sensor messages expected before the next tick. This might slow down the overall simulation but ensures reproducible results.
* __Wait for vehicle command.__ In synchronous mode, pauses the tick until a vehicle control is completed.
* __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.
* __Simulation time-step.__ Simulation time (delta seconds) between simulation steps. __It must be lower than 0.1__. Take a look at the [documentation](adv_synchrony_timestep.md) to learn more about this.
* __Role names for the Ego vehicles.__ Role names to identify ego vehicles. These will be controllable from ROS and thus, relevant topics will be created.
!!! Warning

120
Docs/ros_launchs.md
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@ -16,21 +16,21 @@ It is possible to modify the parameters in runtime via ROS dynamic reconfigure.
<!---NODE-->
<h4 style="margin-bottom: 5px"> <u>/carla_ackermann_control_ego_vehicle</u> <small><i>(Node)</i></small> </h4>
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 in __radians__ and refers to driving angle, not wheel angle.
Converts [AckermannDrive messages](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.htm) to [CarlaEgoVehicleControl.msg](ros_msgs.md#carlaegovehiclecontrolmsg). Speed is in __m/s__, steering angle in __radians__ and refers to driving angle, not wheel angle.
<p style="margin-bottom:-5px"> <b>Subscribed to:</b> </p>
* <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)
* <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/ego_vehicle/vehicle_info</b></font> — [carla_msgs.CarlaEgoVehicleInfo](ros_msgs.md#carlaegovehicleinfomsg)
* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](ros_msgs.md#carlaegovehiclestatusmsg)
<p style="margin-top:-10px;margin-bottom:-5px"> <b>Publishes in:</b> </p>
* <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/control_info</b></font> — [carla_ackermann_control.EgoVehicleControlInfo](ros_msgs.md#egovehiclecontrolinfomsg)
* <font color="80ba10"><b>/carla/ego_vehicle/ackermann_control/parameter_updates</b></font> — [dynamic_reconfigure/Config](http://wiki.ros.org/dynamic_reconfigure)
* <font color="80ba10"><b>/carla/ego_vehicle/vehicle_control_cmd</b></font> — [carla_msgs.CarlaEgoVehicleControl](../ros_msgs#carlaegovehiclecontrolmsg)
* <font color="80ba10"><b>/carla/ego_vehicle/vehicle_control_cmd</b></font> — [carla_msgs.CarlaEgoVehicleControl](ros_msgs.md#carlaegovehiclecontrolmsg)
---
## carla_ego_vehicle.launch
@ -46,7 +46,7 @@ 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)
* <font color="f8815c"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](ros_msgs.md#carlaworldinfomsg)
---
## carla_example_ego_vehicle.launch
@ -64,7 +64,7 @@ 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)
* <font color="f8815c"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](ros_msgs.md#carlaworldinfomsg)
---
## carla_infrastructure.launch
@ -76,7 +76,7 @@ Spawns the infrastructure sensors passed as arguments.
<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)
* <font color="f8815c"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](ros_msgs.md#carlaworldinfomsg)
---
## carla_ros_bridge.launch
@ -92,11 +92,11 @@ Publishes the data regarding the current state of the simulation. Reads the debu
<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/actor_list</b></font> — [carla_msgs.CarlaActorList](ros_msgs.md#carlaactorlistmsg)
* <font color="80ba10"><b>/carla/objects</b></font> — [derived_object_msgs.ObjectArrayring](http://wiki.ros.org/derived_object_msgs)
* <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)
* <font color="80ba10"><b>/carla/status</b></font> — [carla_msgs.CarlaStatus](ros_msgs.md#carlastatusmsg)
* <font color="80ba10"><b>/carla/traffic_lights</b></font> — [carla_msgs.CarlaTrafficLightStatusList](ros_msgs.md#carlatrafficlightstatuslistmsg)
* <font color="80ba10"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](ros_msgs.md#carlaworldinfomsg)
---
## carla_ros_bridge_with_ackermann_control.launch
@ -113,29 +113,29 @@ Publishes data regarding the current state of the simulation. Reads the debug sh
<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/actor_list</b></font> — [carla_msgs.CarlaActorList](ros_msgs.md#carlaactorlistmsg)
* <font color="80ba10"><b>/carla/objects</b></font> — [derived_object_msgs.ObjectArrayring](http://wiki.ros.org/derived_object_msgs)
* <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)
* <font color="80ba10"><b>/carla/status</b></font> — [carla_msgs.CarlaStatus](ros_msgs.md#carlastatusmsg)
* <font color="80ba10"><b>/carla/traffic_lights</b></font> — [carla_msgs.CarlaTrafficLightStatusList](ros_msgs.md#carlatrafficlightstatuslistmsg)
* <font color="80ba10"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](ros_msgs.md#carlaworldinfomsg)
<!---NODE-->
<h4 style="margin-bottom: 5px"> <u>/carla_ackermann_control_ego_vehicle</u> <small><i>(Node)</i></small> </h4>
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 in __radians__ and refers to driving angle, not wheel angle.
Converts [AckermannDrive messages](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.htm) to [CarlaEgoVehicleControl.msg](ros_msgs.md#carlaegovehiclemsg). Speed is in __m/s__, steering angle is in __radians__ and refers to driving angle, not wheel angle.
<p style="margin-bottom:-5px"> <b>Subscribed to:</b> </p>
* <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)
* <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/ego_vehicle/vehicle_info</b></font> — [carla_msgs.CarlaEgoVehicleInfo](ros_msgs.md#carlaegovehicleinfomsg)
* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](ros_msgs.md#carlaegovehiclestatusmsg)
<p style="margin-top:-10px;margin-bottom:-5px"> <b>Publishes in:</b> </p>
* <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/control_info</b></font> — [carla_ackermann_control.EgoVehicleControlInfo](ros_msgs.md#egovehiclecontrolinfomsg)
* <font color="80ba10"><b>/carla/ego_vehicle/ackermann_control/parameter_updates</b></font> — [dynamic_reconfigure/Config](http://wiki.ros.org/dynamic_reconfigure)
* <font color="80ba10"><b>/carla/ego_vehicle/vehicle_control_cmd</b></font> — [carla_msgs.CarlaEgoVehicleControl](../ros_msgs#carlaegovehiclecontrolmsg)
* <font color="80ba10"><b>/carla/ego_vehicle/vehicle_control_cmd</b></font> — [carla_msgs.CarlaEgoVehicleControl](ros_msgs.md#carlaegovehiclecontrolmsg)
---
## carla_ros_bridge_with_example_ego_vehicle.launch
@ -150,13 +150,13 @@ In charge of the communications between CARLA and ROS. They share the current st
* <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)
* <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_cmd</b></font> — [carla_msgs.CarlaEgoVehicleControl](ros_msgs.md#carlaegovehiclecontrolmsg)
* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_control_cmd_manual</b></font> — [carla_msgs.CarlaEgoVehicleControl](ros_msgs.md#carlaegovehiclecontrolmsg)
* <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)
<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/actor_list</b></font> — [carla_msgs.CarlaActorList](ros_msgs.md#carlaactorlistmsg)
* <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)
@ -167,12 +167,12 @@ In charge of the communications between CARLA and ROS. They share the current st
* <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)
* <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)
* <font color="80ba10"><b>/carla/ego_vehicle/vehicle_info</b></font> — [carla_msgs.CarlaEgoVehicleInfo](ros_msgs.md#carlaegovehicleinfomsg)
* <font color="80ba10"><b>/carla/ego_vehicle/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](ros_msgs.md#carlaegovehiclestatusmsg)
* <font color="80ba10"><b>/carla/objects</b></font> — [derived_object_msgs.ObjectArrayring](http://wiki.ros.org/derived_object_msgs)
* <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)
* <font color="80ba10"><b>/carla/status</b></font> — [carla_msgs.CarlaStatus](ros_msgs.md#carlastatusmsg)
* <font color="80ba10"><b>/carla/traffic_lights</b></font> — [carla_msgs.CarlaTrafficLightStatusList](ros_msgs.md#carlatrafficlightstatuslistmsg)
* <font color="80ba10"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](ros_msgs.md#carlaworldinfomsg)
<!---NODE-->
@ -182,19 +182,19 @@ Retrieves information from CARLA regarding the ego vehicle. Uses keyboard input
<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](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/collision</b></font> — [carla_msgs.CarlaCollisionEvent](ros_msgs.md#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/lane_invasion</b></font> — [carla_msgs.CarlaLaneInvasionEvent](ros_msgs.md#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)
* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_info</b></font> — [carla_msgs.CarlaEgoVehicleInfo](ros_msgs.md#carlaegovehicleinfomsg)
* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](ros_msgs.md#carlaegovehiclestatusmsg)
* <font color="f8815c"><b>/carla/status</b></font> — [carla_msgs.CarlaStatus](ros_msgs.md#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> — [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_cmd_manual</b></font> — [carla_msgs.CarlaEgoVehicleControl](ros_msgs.md#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)
<!---NODE-->
@ -219,11 +219,11 @@ Shares information between CARLA and ROS regarding the current simulation state.
<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/actor_list</b></font> — [carla_msgs.CarlaActorList](ros_msgs.md#carlaactorlistmsg)
* <font color="80ba10"><b>/carla/objects</b></font> — [derived_object_msgs.ObjectArrayring](http://wiki.ros.org/derived_object_msgs)
* <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)
* <font color="80ba10"><b>/carla/status</b></font> — [carla_msgs.CarlaStatus](ros_msgs.md#carlastatusmsg)
* <font color="80ba10"><b>/carla/traffic_lights</b></font> — [carla_msgs.CarlaTrafficLightStatusList](ros_msgs.md#carlatrafficlightstatuslistmsg)
* <font color="80ba10"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](ros_msgs.md#carlaworldinfomsg)
<!---NODE-->
<h4 style="margin-bottom: 5px"> <u>/rviz</u> <small><i>(Node)</i></small> </h4>
@ -253,19 +253,19 @@ Retrieves information from CARLA regarding the ego vehicle. Uses keyboard input
<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](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/collision</b></font> — [carla_msgs.CarlaCollisionEvent](ros_msgs.md#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/lane_invasion</b></font> — [carla_msgs.CarlaLaneInvasionEvent](ros_msgs.md#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)
* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_info</b></font> — [carla_msgs.CarlaEgoVehicleInfo](ros_msgs.md#carlaegovehicleinfomsg)
* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](ros_msgs.md#carlaegovehiclestatusmsg)
* <font color="f8815c"><b>/carla/status</b></font> — [carla_msgs.CarlaStatus](ros_msgs.md#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> — [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_cmd_manual</b></font> — [carla_msgs.CarlaEgoVehicleControl](ros_msgs.md#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)
---
@ -300,13 +300,13 @@ In charge of most of the communications between CARLA and ROS. Both share the cu
* <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)
* <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_cmd</b></font> — [carla_msgs.CarlaEgoVehicleControl](ros_msgs.md#carlaegovehiclecontrolmsg)
* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_control_cmd_manual</b></font> — [carla_msgs.CarlaEgoVehicleControl](ros_msgs.md#carlaegovehiclecontrolmsg)
* <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)
<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/actor_list</b></font> — [carla_msgs.CarlaActorList](ros_msgs.md#carlaactorlistmsg)
* <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)
@ -316,14 +316,14 @@ In charge of most of the communications between CARLA and ROS. Both share the cu
* <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/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](../ros_msgs#carlaegovehiclestatusmsg)
* <font color="80ba10"><b>/carla/ego_vehicle/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](ros_msgs.md#carlaegovehiclestatusmsg)
* <font color="80ba10"><b>/carla/ego_vehicle/radar/front/radar</b></font> — [ainstein_radar_msgs.RadarTargetArray](http://wiki.ros.org/ainstein_radar_msgs)
* <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_info</b></font> — [carla_msgs.CarlaEgoVehicleInfo](ros_msgs.md#carlaegovehicleinfomsg)
* <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)
* <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)
* <font color="80ba10"><b>/carla/status</b></font> — [carla_msgs.CarlaStatus](ros_msgs.md#carlastatusmsg)
* <font color="80ba10"><b>/carla/traffic_lights</b></font> — [carla_msgs.CarlaTrafficLightStatusList](ros_msgs.md#carlatrafficlightstatuslistmsg)
* <font color="80ba10"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](ros_msgs.md#carlaworldinfomsg)
<!---NODE-->
<h4 style="margin-bottom: 5px"> <u>/carla_manual_control_ego_vehicle</u> <small><i>(Node)</i></small> </h4>
@ -332,19 +332,19 @@ Retrieves information from CARLA regarding the ego vehicle. Uses keyboard input
<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](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/collision</b></font> — [carla_msgs.CarlaCollisionEvent](ros_msgs.md#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/lane_invasion</b></font> — [carla_msgs.CarlaLaneInvasionEvent](ros_msgs.md#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)
* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_info</b></font> — [carla_msgs.CarlaEgoVehicleInfo](ros_msgs.md#carlaegovehicleinfomsg)
* <font color="f8815c"><b>/carla/ego_vehicle/vehicle_status</b></font> — [carla_msgs.CarlaEgoVehicleStatus](ros_msgs.md#carlaegovehiclestatusmsg)
* <font color="f8815c"><b>/carla/status</b></font> — [carla_msgs.CarlaStatus](ros_msgs.md#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> — [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_cmd_manual</b></font> — [carla_msgs.CarlaEgoVehicleControl](ros_msgs.md#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)
<!---NODE-->
@ -389,4 +389,4 @@ Uses the current pose of the ego vehicle as starting point. If the vehicle is re
<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)
* <font color="f8815c"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](ros_msgs.md#carlaworldinfomsg)

10
Docs/ros_msgs.md
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@ -186,7 +186,7 @@ Static information regarding a vehicle, mostly the attributes used to define the
<td>Role assigned to the vehicle.</td>
<tr>
<td><code>wheels</code> </td>
<td><a href="#carlaegovehicleinfowheel">CarlaEgoVehicleInfoWheel</a></td>
<td><a href="#carlaegovehicleinfowheelmsg">CarlaEgoVehicleInfoWheel</a></td>
<td>List of messages with information regarding wheels.</td>
<tr>
<td><code>max_rpm</code> </td>
@ -240,7 +240,7 @@ Static information regarding a vehicle, mostly the attributes used to define the
---
## CarlaEgoVehicleInfoWheel.msg
Static information regarding a wheel that will be part of a [CarlaEgoVehicleInfo.msg](#carlaegovehicleinfo) message.
Static information regarding a wheel that will be part of a [CarlaEgoVehicleInfo.msg](#carlaegovehicleinfomsg) message.
<table class ="defTable">
<thead>
@ -293,7 +293,7 @@ Current status of the vehicle as an object in the world.
</thead>
<tbody>
<td><code>header</code> </td>
<td><a hre="http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html">header</a></td>
<td><a href="http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html">Header</a></td>
<td>Time stamp and frame ID when the message is published.</td>
<tr>
<td><code>velocity</code> </td>
@ -309,7 +309,7 @@ Current status of the vehicle as an object in the world.
<td>Current orientation of the vehicle.</td>
<tr>
<td><code>control</code> </td>
<td><a href="#carlaegovehiclecontrol">CarlaEgoVehicleControl</a></td>
<td><a href="#carlaegovehiclecontrolmsg">CarlaEgoVehicleControl</a></td>
<td>Current control values as reported by CARLA.</td>
</tbody>
</table>
@ -475,7 +475,7 @@ List of traffic lights with their status.
</thead>
<tbody>
<td><code>scenarios</code> </td>
<td><a href="#carlatrafficlightstatus">CarlaTrafficLightStatus`[]</a></td>
<td><a href="#carlatrafficlightstatusmsg">CarlaTrafficLightStatus[]</a></td>
<td>A list of messages summarizing traffic light states.</td>
</tbody>
</table>

2
Docs/tuto_A_map_creation.md
View File

@ -88,7 +88,7 @@ and the second part shows how to import a map from other software that generates
i.e. `mapname.fbx` `mapname.xodr`.
We have also created a new way to import assets into Unreal,
check this [`guide`](tuto_A_standalone_packages).md)!
check this [`guide`](tuto_A_import_assets.md)!
#### 3.1 Importing from RoadRunner

3
Docs/tuto_A_standalone_packages.md
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@ -173,9 +173,8 @@ _a new one with the same name._
!!! note
The imported map won't have collisions, so they should be generated manually. This
[tutorial][collisionlink] (_Section 3.2.1 - 5_) shows how to do it.
[tutorial](tuto_A_map_creation.md#3.2-importing-from-the-files) (_Section 3.2.1 - 5_) shows how to do it.
[collisionlink]: how_to_make_a_new_map.md/#32-importing-from-the-files
---
## How to export assets

4
Docs/tuto_G_control_vehicle_physics.md
View File

@ -5,9 +5,9 @@ These changes are applied **only** on runtime, and values are set back to defaul
the execution ends.
These properties are controlled through a
[carla.VehiclePhysicsControl](/python_api/#carla.VehiclePhysicsControl) object,
[carla.VehiclePhysicsControl](python_api.md#carla.VehiclePhysicsControl) object,
which also provides the control of each wheel's physics through a
[carla.WheelPhysicsControl](/python_api/#carla.WheelPhysicsControl) object.
[carla.WheelPhysicsControl](python_api.md#carla.WheelPhysicsControl) object.
---
## Example