# Ros bridge for Carla simulator

This ros package aims at providing a simple ros bridge for carla simulator.

![rviz setup](./assets/rviz_carla_default.png "rviz")
![depthcloud](./assets/depth_cloud_and_lidar.png "depthcloud")

![short video](https://youtu.be/S_NoN2GBtdY)


# Features

- [x] Cameras (depth, segmentation, rgb) support
- [x] Add camera matrix
- [x] Lidar sensor support
- [x] Transform publications
- [x] Manual control using ackermann msg
- [x] Autopilot mode using rosparam 
- [x] Rosbag in the bridge (in order to avoid rosbag recoard -a small time errors)
- [x] Handle ros dependencies
- [x] Marker/bounding box messages for cars/pedestrian
- [ ] Add traffic light support
- [ ] Support dynamic change (restarting simulation using a topic/rosparam)


# Setup

## Create a catkin workspace and install carla_ros_bridge package

### Create the catkin workspace:

    mkdir -p ~/ros/catkin_ws_for_carla/src
    cd ~/ros/catkin_ws_for_carla
    source /opt/ros/kinetic/setup.bash
    catkin_make 
    source ~/ros/catkin_ws_for_carla/devel/setup.bash
    
For more information about configuring a ros environment see 
http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

## Install carla python client in your workspace

    cd carla/PythonClient
    pip2 install -e .  --user --upgrade   
    
Check the installation is successfull by trying to import carla from python:

    python -c 'import carla;print("Success")'
    
You should see the Success message without any errors.

### Install recent protobuf version [optional]

    sudo apt-get remove python-protobuf
    sudo pip2 install --upgrade protobuf

    
### Add the carla_ros_bridge in the catkin workspace
    
Run the following command after replacing [PATH_TO_CARLA] with the actual path to carla directory on your machine:

    ln -s [PATH_TO_CARLA]/carla_ros_bridge/ ~/ros/catkin_ws_for_carla/src/
    source ~/ros/catkin_ws_for_carla/devel/setup.bash
    rosdep update
    rosdep install --from-paths ~/ros/catkin_ws_for_carla
    cd ~/ros/catkin_ws_for_carla
    catkin_make
    source ~/ros/catkin_ws_for_carla/devel/setup.bash
    

### Test your installation
    
If you use the builded binary (0.8.2):

     ./CarlaUE4  -carla-server -windowed -ResX=320 -ResY=240

    
Wait for the message:

    Waiting for the client to connect...
    
Then run the tests
    
    rostest carla_ros_bridge ros_bridge_client.test
    
you should see:

    [carla_ros_bridge.rosunit-testTopics/test_publish][passed]

    SUMMARY
     * RESULT: SUCCESS


    
# Start the ros bridge

First run the simulator (see carla documentation: http://carla.readthedocs.io/en/latest/)

     ./CarlaUE4  -carla-server -windowed -ResX=320 -ResY=240


Wait for the message:

    Waiting for the client to connect...

Then start the ros bridge:

    source ~/ros/catkin_ws_for_carla/devel/setup.bash
    roslaunch carla_ros_bridge client.launch
    
To start the ros bridge with rviz use:

    roslaunch carla_ros_bridge client_with_rviz.launch
    
You can setup the wanted camera/sensors in config/settings.yaml.

# Autopilot control

To enable autopilot control set the ros param carla_autopilot to True

    rosparam set carla_autopilot True
    
# Manual control 

To enable manual control set the ros param carla_autopilot to False

    rosparam set carla_autopilot False
    

Then you can send command to the car using the /ackermann_cmd topic.

Example of forward movements, speed in in meters/sec.

     rostopic pub /ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0,
      jerk: 0.0}" -r 10
  
  
Example of forward with steering
  
     rostopic pub /ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 5.41, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0,
      jerk: 0.0}" -r 10
      
  Warning: the steering_angle is the driving angle (in radians) not the wheel angle, for now max wheel is set to 500 degrees.
  
  
Example for backward :

     rostopic pub /ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0, steering_angle_velocity: 0.0, speed: -10, acceleration: 0.0,
      jerk: 0.0}" -r 10


# ROSBAG recording

The carla_ros_bridge could also be used to record all published topics into a rosbag:

    roslaunch carla_ros_bridge client_with_rviz.launch rosbag_fname:=/tmp/save_session.bag

This command will create a rosbag /tmp/save_session.bag

You can of course also use rosbag record to do the same, but using the ros_bridge to do the recording you have the guarentee that all the message are saved without small desynchronization that could occurs when using *rosbag record* in an other process.