zenoh_carla_bridge

The repository can bridge Carla and Autoware with Zenoh. The bridge tranforms Carla data into Autoware ROS 2 topic and then sends it with Zenoh.

If you want to have a quick demo, refer to autoware_carla_launch

Build

• Get the code

git clone https://github.com/evshary/zenoh_carla_bridge.git
cd zenoh_carla_bridge
cargo build
# Run lint
cargo clippy --all -- -W clippy::all -W clippy::pedantic -W clippy::restriction -W clippy::nursery -D warnings

Usage

• Terminal1: Run simulator

./CarlaUE4.sh

• Terminal2: Run manual control agent

cd carla_agent/
poetry run python3 main.py --rolename "v1"

• Terminal3: Run zenoh-bridge-ros2dds

./zenoh-plugin-dds/target/release/zenoh-bridge-ros2dds -n "/v1"

• Terminal4: Run zenoh_carla_bridge

source /path/to/autoware/install/setup.bash
RUST_LOG=c=info cargo run

• Terminal5: Run ROS package to control vehicle

# For example
ros2 run autoware_manual_control keyboard_control 

Note

If you want to build in Ubuntu 22.04, remember to switch compiler's version.

sudo apt install clang-12 libclang-12-dev
export LLVM_CONFIG_PATH=/usr/bin/llvm-config-12
export LIBCLANG_PATH=/usr/lib/llvm-12/lib
export LIBCLANG_STATIC_PATH=/usr/lib/llvm-12/lib
export CLANG_PATH=/usr/bin/clang-12

ROS topic

Input topic

Control

• /control/command/control_cmd
• /control/command/emergency_cmd
• /control/command/gear_cmd
• /control/command/hazard_lights_cmd: Not support
• /control/command/turn_indicators_cmd: Not support

Sensing

• /sensing/camera/traffic_light/camera_info
• /sensing/camera/traffic_light/image_raw
• /sensing/gnss/pose: Not support
• /sensing/gnss/pose_with_covariance: Not support
• /sensing/imu/tamagawa/imu_raw
• /sensing/lidar/top/pointcloud_raw
• /sensing/lidar/top/pointcloud_raw_ex

Output topic

• /vehicle/status/control_mode
• /vehicle/status/gear_status
• /vehicle/status/steering_status
• /vehicle/status/velocity_status
• /vehicle/status/hazard_lights_status: Not support
• /vehicle/status/turn_indicators_status: Not support