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https://github.com/carla-simulator/ros-bridge

ROS bridge for CARLA Simulator
https://github.com/carla-simulator/ros-bridge

Last synced: 28 days ago
JSON representation

ROS bridge for CARLA Simulator

Host: GitHub
URL: https://github.com/carla-simulator/ros-bridge
Owner: carla-simulator
License: mit
Created: 2018-11-30T13:51:34.000Z (about 6 years ago)
Default Branch: master
Last Pushed: 2024-07-30T14:01:53.000Z (4 months ago)
Last Synced: 2024-08-04T01:13:07.879Z (4 months ago)
Language: Python
Size: 33.5 MB
Stars: 518
Watchers: 20
Forks: 415
Open Issues: 167
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.md
- License: LICENSE

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README

        # ROS/ROS2 bridge for CARLA simulator

[![Actions Status](https://github.com/carla-simulator/ros-bridge/workflows/CI/badge.svg)](https://github.com/carla-simulator/ros-bridge)

[![Documentation](https://readthedocs.org/projects/carla/badge/?version=latest)](http://carla.readthedocs.io)

[![GitHub](https://img.shields.io/github/license/carla-simulator/ros-bridge)](https://github.com/carla-simulator/ros-bridge/blob/master/LICENSE)

[![GitHub release (latest by date)](https://img.shields.io/github/v/release/carla-simulator/ros-bridge)](https://github.com/carla-simulator/ros-bridge/releases/latest)

 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.

![rviz setup](./docs/images/ad_demo.png "AD Demo")

**This version requires CARLA 0.9.13**

## Features

- Provide Sensor Data (Lidar, Semantic lidar, Cameras (depth, segmentation, rgb, dvs), GNSS, Radar, IMU)

- Provide Object Data (Transforms (via [tf](http://wiki.ros.org/tf)), Traffic light status, Visualization markers, Collision, Lane invasion)

- Control AD Agents (Steer/Throttle/Brake)

- Control CARLA (Play/pause simulation, Set simulation parameters)

## Getting started and documentation

Installation instructions and further documentation of the ROS bridge and additional packages are found [__here__](https://carla.readthedocs.io/projects/ros-bridge/en/latest/).