README.md

ROS Ego Vehicle

The reference Carla client carla_ego_vehicle can be used to spawn an ego vehicle (role-name: "ego_vehicle") with attached sensors.

Info: To be able to use carla_manual_control a camera with role-name 'view' and resolution of 800x600 is required.

If no specific position is set, the ego vehicle is spawned at a random position.

Spawning at specific position

It is possible to (re)spawn the ego vehicle at the specific location by publishing to /carla/<ROLE NAME>/initialpose.

The preferred way of doing that is using RVIZ:

Selecting a Pose with '2D Pose Estimate' will delete the current ego_vehicle and respawn it at the specified position.

Create your own sensor setup

Sensors, attached to the ego vehicle can be defined via a json file. carla_ego_vehicle reads it from the file location defined via the private ros parameter sensor_definition_file.

The format is defined like that:

{ "sensors" = [
    {
      "type": "<SENSOR-TYPE>",
      "id": "<NAME>",
      "x": 0.0, "y": 0.0, "z": 0.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0, # pose of the sensor, relative to the vehicle
      <ADDITIONAL-SENSOR-ATTRIBUTES>
    },
    ...
  ]
}

Define sensors with their attributes as described in the Carla Documentation about Cameras and Sensors.

An example is provided by carla_example_ego_vehicle.launch. It uses the sensors from sensors.json