feat(carla_autoware): add interface to easily use CARLA with Autoware

[mraditya01]

Description

The interface between CARLA and Autoware aims to bridge the both systems, with the support of official ROSBridge from CARLA.

Related links

• Main Repositories with instruction (https://github.com/mraditya01/autoware.universe/tree/main/simulator/carla_autoware)
• Modified CARLA ROS Bridge (https://github.com/mraditya01/carla_ros_bridge)
• CARLA Sensor Kit (https://github.com/mraditya01/carla_sensor_kit_launch)
• CARLA Lanelet2 Maps (https://bitbucket.org/carla-simulator/autoware-contents/src/master/maps/)
• Update to e2e launch files (https://github.com/mraditya01/autoware_launch)
• Issues related to CARLA Autoware Bridge

• Autoware sometimes drives over the velocity limit. #6487
• controller_node_exe makes an error and the vehicle stops forever #5701

Tests performed

Tested on Town01 map from Link.

• Environment Setup:
  CARLA 0.9.15
  Autoware.universe Main Branch
  ROS2 Humble
  Python 3.10
  Ubuntu 22.04

• Testing:

1. Tested the interface on the Town01 map provided by the CARLA simulator.
2. Verified the accuracy of vehicle localization within the simulated environment.
3. Checked that the vehicle's estimated position matches the ground truth position provided by CARLA.
4. Verified that the localization module in Autoware correctly interprets data received from CARLA.
5. Tested the perception module's ability to detect obstacle within the scene.
6. Tested vehicle control under various scenarios, including lane following, obstacle stop, and intersection.

• Issues Related

1. Tested velocity limit issue:

Confirmed the functionality of limiting vehicle velocity to 30 km/h by providing input via Autoware.
Verified that the vehicle's velocity did not exceed the specified limit during the test.

2. Tested vehicle stopped issue on particular path:

Replicated the reported issue by recreating the same path on the same map used in the initial observation.
Monitored the vehicle's behavior and trajectory during the test.
Confirmed that no issues occurred, indicating that the reported problem was not reproducible or no longer exists after further testing and investigation.

Video Working Example:
Video

Notes for reviewers

Interface changes

Effects on system behavior

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[maxime-clem]

The packages should use autoware_cmake in their CMakeLists.txt and follow a similar structure to other Autoware packages.

[maxime-clem]

There are several things to cleanup and the instructions need to be updated.