ROS/ROS2 bridge for CARLA simulator

This is a fork of carla-simulator/ros-bridge to adapt ros humble and carla 0.9.14.

Quickly Start

Environment

• OS: ubuntu 22.04
• ROS2: Humble
• Carla Simulator: 0.9.14

Install client library

• download python package of client library for ubuntu22.04 in release(carla-0.9.14-ubuntu-22.04)

pip3 install carla-0.9.14-cp310-cp310-linux_x86_64.whl

Build carla-simulator/ros-bridge

# cd workspace/src
git clone --recurse-submodules https://github.com/gezp/carla_ros.git -b humble-carla-0.9.14
# install dependencies
cd ..
rosdep install --from-paths src --ignore-src -r
pip3 install pygame
# complie
colcon build --symlink-install

Tip: carla server and client could run on differnet machines separately (or Docker Container), so you can install and run carla server on ubuntu18.04 or windows10/11, but run carla client and ROS on ubuntu22.04.

Carla Client Library Build CI

this repo also provides multiple versions of Carla Client Library on ubuntu platform, these python package(.whl) is automatically built and released by CI.

• python package of client library: releases