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carla/Docs/ros_installation.md

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ROS bridge installation

The ROS bridge enables two-way communication between ROS and CARLA. The information from the CARLA server is translated to ROS topics. In the same way, the messages sent between nodes in ROS get translated to commands to be applied in CARLA.

Requirements

Make sure that both requirements work properly before continuing with the installation.

  • ROS Kinetic/Melodic. Install ROS Melodic, for Ubuntu 18.04, or Kinetic, for Ubuntu 16.04. ROS packages may be required, depending on the user needs. 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 or make the build for the corresponding platform.

!!! Warning CARLA 0.9.10 and later release packages will not be able to run the ROS bridge, as no support for Python2 is provided. Running CARLA in a build from source will be necessary.

Python2

Those using ROS Kinetic or Melodic will need Python2 in order to run the ROS bridge. Release packages since 0.9.10 (included) do not provide support for Python2, so a build from source will be necessary.

Make the Linux or Windows build from source. To compile the PythonAPI for Python2, the instructions depend on the system being used.

  • Windows — The PythonAPI will be built based on the installed Python version. If the system runs with Python2, the PythonAPI will be compiled properly.

  • Linux — Run the following command in the root CARLA directory.

make PythonAPI ARGS="--python-version=2"

Bridge installation

!!! Important To install ROS bridge versions prior to 0.9.10, change to a previous version of the documentation using the pannel in the bottom right corner of the window, and follow the old instructions.

A. Using Debian repository

Set up the Debian repository in the system.

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 1AF1527DE64CB8D9
sudo add-apt-repository "deb [arch=amd64] http://dist.carla.org/carla $(lsb_release -sc) main"

Install the ROS bridge, and check for the installation in the /opt/ folder.

sudo apt-get update # Update the Debian package index
sudo apt-get install carla-ros-bridge # Install the latest ROS bridge version, or update the current installation

This repository contains features from CARLA 0.9.10 and later versions. To install a specific version add the version tag to the installation command.

sudo apt-get install carla-ros-bridge=0.9.10-1 # In this case, "0.9.10" refers to the ROS bridge version, and "1" to the Debian revision

B. Using source repository

A catkin workspace is needed to use the ROS bridge. It should be cloned and built in there. The following code creates a new workspace, and clones the repository in there.

# Setup folder structure
mkdir -p ~/carla-ros-bridge/catkin_ws/src
cd ~/carla-ros-bridge
git clone https://github.com/carla-simulator/ros-bridge.git
cd ros-bridge
git submodule update --init
cd ../catkin_ws/src
ln -s ../../ros-bridge
source /opt/ros/kinetic/setup.bash # Watch out, this sets ROS Kinetic 
cd ..

# Install required ros-dependencies
rosdep update
rosdep install --from-paths src --ignore-src -r

# Build
catkin_make

Run the ROS bridge

1) Run CARLA. The way to do so depends on the CARLA installation.

  • Quick start/release package. ./CarlaUE4.sh in carla/.
  • Debian installation. ./CarlaUE4.sh in opt/carla-simulator/.
  • Build installation. make launch in carla/.

2) Add the source path. The source path for the workspace has to be added, so that the ROS bridge can be used from a terminal.

  • Source for apt ROS bridge.
source /opt/carla-ros-bridge/<melodic or kinetic>/setup.bash
  • Source for ROS bridge repository download.
source ~/carla-ros-bridge/catkin_ws/devel/setup.bash

!!! Important The source path can be set permanently, but it will cause conflict when working with another workspace.

3) Start the ROS bridge. Use any of the different launch files available to check the installation. Here are some suggestions.

# Option 1: start the ros bridge
roslaunch carla_ros_bridge carla_ros_bridge.launch

# Option 2: start the ros bridge together with RVIZ
roslaunch carla_ros_bridge carla_ros_bridge_with_rviz.launch

# Option 3: start the ros bridge together with an example ego vehicle
roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch
ImportError: no module named CARLA

The path to CARLA Python is missing. The apt installation does this automatically, but it may be missing for other installations. Execute the following command with the complete path to the .egg file (included). Use the one supported by the Python version installed.

Note: .egg files may be either in /PythonAPI/ or /PythonAPI/dist/ depending on the CARLA installation.

    export PYTHONPATH=$PYTHONPATH:<path/to/carla/>/PythonAPI/<your_egg_file>

Import CARLA from Python and wait for a sucess message to check the installation.

python3 -c 'import carla;print("Success")'

Setting CARLA

To modify the way CARLA works along with the ROS bridge, edit share/carla_ros_bridge/config/settings.yaml.

  • Host/port. Network settings to connect to CARLA using a Python client.
  • Synchronous mode.
    • 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 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 In synchronous mode only the ros-bridge is allowed to tick. Other clients must passively wait.

Synchronous mode

To control the step update when in synchronous mode, use the following topic. The message contains a constant named command that allows to Pause/Play the simulation, and execute a single step.

Topic Message type
/carla/control carla_msgs.CarlaControl

The Control rqt plugin launches a new window with a simple interface. It is used to manage the steps and publish in the corresponding topic. Simply run the following when CARLA in synchronous mode.

rqt --standalone rqt_carla_control