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evshary / autoware_carla_launch

ROS 2 Launch for running Autoware + Carla easily
https://autoware-carla-launch.readthedocs.io/en/latest/
Apache License 2.0
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The ego-vehicle in Autoware is not in the list of CARLA vehicles #96

Open epris opened 3 weeks ago

epris commented 3 weeks ago

Dear all,

we have successfully used the bridge between Autoware and Carla but we have noticed the following issue that we are not able to solve it: In Autoware, the ego-vehicle receives data from camera and lidar sensors from CARLA but this vehicle doesn't appear in the list of CARLA's vehicles. It's like the sensors are attached to a phantom vehicle. If we spawn an ego-vehicle in CARLA it will be different from the ego-vehicle in Autoware. Is there are way to overcome this issue? Did we use the bridge in the wrong way?

Thanks a lot, Antonio

evshary commented 3 weeks ago

Hi @epris

I'm a little unclear about what the phantom vehicle means. Maybe you can have more explanation of how you list vehicles? BTW, here is how we create the car. I would suggest that you could check the code and see whether it matches your expectations or not. https://github.com/evshary/zenoh_carla_bridge/blob/b9ad9606a3dc1e5310fe5a926a4b23c3c3a5e11c/carla_agent/simulation/world.py#L95