This ROS package is a bridge that 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.
# start carla
cd /opt/Carla; ./Carla.sh
# start the ROS bridge with an example ego vehicle
ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py
# for scan matching point cloud odom
ros2 launch multi_sensor_fusion scan_matching.launch.py
# for gps to odom
ros2 launch multi_sensor_fusion gps_odom.launch.py
# for odom fusion
ros2 launch multi_sensor_fusion odom_fusion.launch.py
# for plot juggler
ros2 launch multi_sensor_fusion plot_juggler.launch.py
# start carla
cd /opt/Carla; ./Carla.sh
# start the ROS bridge with an example ego vehicle
ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py
# generate traffic
cd /opt/Carla/PythonAPI/examples; python generate_traffic.py -n 30
# for radar safety
ros2 launch multi_sensor_fusion radar_safety.launch.py
conda activate ai
python tools/demo.py --source inference/images
/zenoh-bridge-ros2dds -l tcp/0.0.0.0:7447
conda activate ai
python opencv_publisher.py
ros2 run rqt_image_view rqt_image_view
python object_lane_detection_node.py
# with cpu
Done. (2.191s)
inf : (0.2139s/frame) nms : (0.0011s/frame)
# with gpu
Done. (2.041s)
inf : (0.0525s/frame) nms : (0.0606s/frame)
# video frames
# with gpu
Done. (44.252s)
inf : (0.0243s/frame) nms : (0.0032s/frame)
# with cpu
Done. (84.558s)
inf : (0.1766s/frame) nms : (0.0010s/frame)