ROS package to interface with CARLA topics and set up the CARLA simulation environment.
ROS Version: ROS2 Humble
After cloning the package into your ROS workspace src directory and building your workspace, launch the interface with:
ros2 launch carla_shell_bridge main.launch.py
Below is a list of all the different parameters that can be change to configure the CARLA simulator to help test different scenarios or enhance simulation performance. The parameters can be changed in carla_interface/config/carla_config.yaml
host: IP of the CARLA server
port: Carla server port
passive: Toggles passive mode for the simulation
synchronous_mode: Toggles the simulation from syncronous mode to asynchronous mode
synchronous_mode_wait_for_vehicle_control_command: Toggles the simulation to syncronous mode and waits for a vehicle command
fixed_delta_seconds: Indirectly controls the speed of the simulation
timeout: Server timeout limit (seconds)
map: Map that is loaded on startup (either a predefined CARLA town (e.g. 'Town01_Opt'), or a OpenDRIVE map file)
Layers of the map that can be added or removed to improve performance (Note: Only works with "Opt" maps)
all: Set to True to load all map layers regardless of values below
decals: Toggle's decals
foliage: Toggle's foliage
parked_vehicles: Toggle's parked_vehicles
particles: Toggle's particles
walls: Toggle's walls
number_of_vehicles: Number of other vehicles to spawn in the simulations
spawn_radius: Spawn radius from ego vehicle in meters
seed: Set random device seed and deterministic mode for Traffic Manager
role_name: Role name of the ego vehicle
spawn_point_ego_vehicle: "x,y,z,roll,pitch,yaw" map coordinates to spawn the vehicle (Use "None" to spawn the ego vehicle in a random point on the road)
spawn_sensors_only: Set to true to only spawn the vehicle sensors