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ROS2-CARLA Bridge Setup Guide

Please follow the instructions from the project README.md before preforming these.

In order to install ROS2, you can simply run the provided /home/ubuntu/install-ros2, or follow these instructions (ROS2 Galactic)[https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html]

Additionally install rosdep2 and colcon:

sudo apt install python3-rosdep2
sudo apt install python3-colcon-common-extensions

System Architecture

image

Installation Steps

  1. Configure Environment Variables

    Set up the necessary environment variables for Python and Carla:

    export CARLA_ROOT=/opt/carla-simulator/
export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egg:$CARLA_ROOT/PythonAPI/carla
source /opt/ros/galactic/setup.bash

  2. Install Additional ROS2 Packages

    Clone and build additional ROS2 packages required for the bridge:

    mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/astuff/astuff_sensor_msgs.git
cd ~/ros2_ws
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash
rosdep install --from-paths src --ignore-src -r -y

  3. Build and Install carla-ros-bridge

    Ensure that you have built and installed the carla-ros-bridge and all dependencies:

    cd ~/ros2_ws/src
git clone https://github.com/carla-simulator/ros-bridge.git ros-bridge
cd ros-bridge
git submodule update --init --recursive
rosdep update
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install

  4. Run the CARLA Server

    We will be using lower rendering in order to increase FPS:

    /opt/carla-simulator/CarlaUE4.sh -no-rendering -quality-level=Low -prefernvidia

  5. Run the Client

    To control the vehicle manually in the Carla simulator, run the client using:

    cd ~/carla-client
source /opt/ros/galactic/setup.bash
python3 manual_control_steeringwheel.py --sync --rolename ego_vehicle --filter vehicle.tesla.model3 -i can0

  6. Generate Traffic

    python3 /opt/carla-simulator/PythonAPI/examples/generate_traffic.py -n 15 -w 20

  7. Run the ROS2 Bridge

    Launch the ROS2 bridge with the Carla simulator:

    source /opt/ros/galactic/setup.bash
source ~/ros2_ws/install/setup.bash
ros2 launch carla_ros_bridge carla_ros_bridge.launch.py timeout:=20000 register_all_sensors:=false synchronous_mode:=false passive:=true

  8. Spawn Sensors Using Objects Definition File

    Use the provided objects definition file to spawn all sensors:

    source /opt/ros/galactic/setup.bash
source ~/ros2_ws/install/setup.bash
ros2 launch carla_spawn_objects carla_spawn_objects.launch.py spawn_sensors_only:=True objects_definition_file:=ros2/objects.json

  9. Convert from raw to compressed Images

    python3 ros2/image_converter.py --input_topic /carla/ego_vehicle/rgb_front/image --output_topic /carla/ego_vehicle/rgb_front/image_compressed
python3 ros2/image_converter.py --input_topic /carla/ego_vehicle/depth_front/image --output_topic /carla/ego_vehicle/depth_front/image_compressed

  10. Start Breeze

python3 breeze.py

(Optional) Start Up Script

Optionally, there is a `start.sh`` script that starts all the processes and ensures that if one of them dies, everything is closed properly. It can be used to start the demo.

# when using with real hardware
./start.sh -i can0 --use_steering_wheel
# otherwise
./start.sh -i vcan0

Troubleshooting

If you encounter any issues, please ensure all environment variables are correctly set and that all dependencies are properly installed. To inspect ros2 topics use the following commands:

source /opt/ros/galactic/setup.bash
ros2 topic list
ros2 topic echo <topic>