Alstar.
- 2023.08.24. 修改Bridge以兼容carla0.9.13和galactic版本的Autoware
The most important:Thanks for the author Robotics010's work
An addition package to carla_ros_bridge to connect CARLA simulator to Autoware Universe software.
Warning! This is still Work in Progress repository. Reports and improvement suggestions are very welcome.
However there is no official support of the Autoware Universe self-driving open source project from CARLA developers, there is a maintained carla_ros_bridge, which supports communication between CARLA simulator and ROS2 applications. This ROS2 package reuses carla_ros_bridge and adds missing things to support communicating with the Autoware Universe.
Go to Getting started tutorial to setup and launch autoware simulation with CARLA simulator.
- only galactic support (no humble support yet)
- sensors' position/rotation and calibration were not configured properly yet
Currently it isn't. CARLA developers currently supports up to foxy version and it just works with galactic as well. I've asked about humble support as a part of other discussion, but I haven't got any response yet.
Yes, but you can take advantage of CARLA synchronous mode. By default without the carla-autoware-bridge, CARLA runs in asynchronous mode. The server runs the simulation as fast as possible, without waiting for the client. On synchronous mode, the server waits for a client tick, a "ready to go" message, before updating to the following simulation step. Thus a simulation together with Autoware stack can be tested even not in a performant enough machine.
Yes, you can look at correspoding steps from the autoware tutorials. I didn't use docker installation because of launching rviz inside galactic docker problem. It looks like humble doesn't have the same problem.
You can use manual_control_window from the CARLA ros-bridge. Just press B and then use WASD keys to control ego vehicle. Use Q key to reverse drive.
Go to Troubleshooting section in order to fix some known problems.