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carla-simulator / ros-bridge

ROS bridge for CARLA Simulator
MIT License
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How does CARLA server transmit simulation data through the TCP Socket to ROS? #706

Open ansb5 opened 8 months ago

ansb5 commented 8 months ago

I'm trying to understand deeply the communication architecture between CARLA and ROS and I cannot find much information about the TCP socket connection between these two parties.

I understand that in ROS the ROS-Bridge is launched in a node that obtains the simulation data from a TCP socket connection with CARLA server. Having this, I dont have clear how CARLA server transmits simulation data from the TCP connection. ROS-Bridge obtains the data in JSON format, but what module in CARLA server transmits this information? Is this information coming from the same Python API that is used to transmit data to CARLA client? Or is it another module? As i didn't install or configure anything in CARLA server to achieve this connection I dont know how does establish it.

If anyone knows the architecture I will be gratefoul for a reply.

Billthekidz commented 2 months ago

I have limited time working with CARLA ros bridge. It looks like the ros bridge uses nodes that communicate with CARLA server using CARLA's python API.