CARLA Simulator + Autoware Universe Tutorials

[hatem-darweesh]

Check out the examples and tutorials of using CARLA Simulator with Autoware:

Part 1:
Part 2:

Important Links:

Autoware Universe + OpenPlanner repo:
https://github.com/ZATiTech/autoware.universe.openplanner/tree/open-planner

OpenPlanner for Universe:
https://github.com/ZATiTech/open_planner

Carla Bridge:
op_bridge:
https://github.com/hatem-darweesh/op_bridge/tree/ros2

op_agent:
https://github.com/hatem-darweesh/op_agent/tree/ros2

scenario_runner:
https://github.com/hatem-darweesh/scenario_runner/tree/openplanner_carla_bridge

Note: This work is beta some functions won't work as expected. Looking forward to suggestions and feedback

[Ruben0407]

There is problem to run code, do you have any idea?

[liuypcoding]

you can google 'sensor_msgs_py', download and put it in opt_bridge. Then set the sensor_msgs_py about absolute address in op_ros2_agent.py . It's work for me ,good luck！！

[liuypcoding]

[hatem-darweesh]

@LubenKim are you sure you have sourced ros2 and autoware.universe before running the script ?

[gaokao123]

you can install sensor_msgs_py package, execute the following command:
sudo apt install ros-galactic-sensor-msgs-py

[hatem-darweesh]

Can you check the map folder path in start_2.sh

[gaokao123]

@hatem-darweesh There is no problem with the map folder path, my environment of carla is "export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egghuanj", and your readme is "export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.13-py2.7-linux-x86_64.egghuanj", is that a problem?

[hatem-darweesh]

I don't know, can you test with the original egg first.

[gaokao123]

ok，I have found the reason，the encoding of my file was wrong,
but,I found another mistake

[hatem-darweesh]

Is this related to CARLA bridge ?!

[gaokao123]

which node is CARLA bridge? scenario_runner? how to run?

[yuasabe]

Hello @hatem-darweesh!
I am very impressed by this integration of Carla and Autoware.universe and have tried it to use it myself.
After some time debugging and testing, I have been able to set it up and have it drive autonomously!

I have a question about NPCs (e.g. other vehicles and pedestrians). When I run the Carla script python3 generate_traffic.py for example, the actors are spawned into the scene and start moving according to their default NPC behavior. However, when I engage Autoware, the NPCs start to move erratically and crash. It seems like the engagement of Autoware somehow triggers a difference in their movement.

I am suspecting that it has something to do with the clock, and time synchronization issues. I was wondering if you have experienced anything similar or have worked with enabling NPCs.

Thanks in advance!

[yuasabe]

The command python3 generate_traffic.py -n 300 --asynch --car-lights-on --safe seemed to have done the trick. The NPC vehicles are now following their normal trajectories and are acting as usual.

[hatem-darweesh]

Thank you for sharing the solution.

[lsteinosk]

Is there a comparison/benefit to using the op_bridge implementation vs the provided CARLA ROS 2 bridge?

[ashishrrs]

While running op_bridge,I am not getting the image and the car is always coming parallel to the road.I have attached the image, for you to look over.

[hatem-darweesh]

@ashishrrs please review the part in the tutorial for modifying the sample sensor kit https://github.com/autowarefoundation/sample_sensor_kit_launch

to have correct localization specially the start point between autoware and carla, they both must have the same sensor configuration.
In the carla bridge, this is defined in the sensors function in the op_brige python script.
In autoware, this is defined in the sensors_kit.

Regards,

[dgr1992]

I am using the ros2-humble version and facing the same issue. I followed the tutorial and found that some topic changes were not mentioned. After changing it the vehicle localises but the orientation is wrong. I am getting an image after selecting the topic '/sensing/camera/traffic_light/image_raw'.

[hatem-darweesh]

Check the Readme (step No. 6)
https://github.com/ZATiTech/open_planner/tree/humble/op_carla_bridge
also make sure to download the proper Pointcloud map from the link in:
https://github.com/hatem-darweesh/op_agent

[Kim-mins]

Hi @hatem-darweesh!
Thank you for the nice work, but I just got one question on lanelet2 map.
How did you get the map for Autoware? I found that the traffic lights, stop lines, speed limit, etc... are not in the map you provided.
Do you have any automatic generation tool for map? or Did you manually generated the map?

Thank you in advance! I think your answer would be a big help for me..

[hatem-darweesh]

I used this tool to modify the map manually.
https://github.com/hatem-darweesh/assuremappingtools

[Kim-mins]

Thank you for the response! I'll try it.

[J-xinyu]

Hello, this is a great job. Does this job now support running under humble?

[hatem-darweesh]

No , due to the python version conflict between CARLA APIs and humble.

[Autostone-c]

Hi，Is there any other Carla engineering adaptation for Humble？

[HarryMechatron]

Hi @hatem-darweesh ,
Thank you for the great work, I am trying to replicate the same in Ubuntu 18.04 with autoware 1.14.
Can you please share the launch files and rviz file you used? I couldn't find them anywhere in the github.

[hatem-darweesh]

Good news.

The above bridge is working now on Ubuntu 22.04 + ROS2 Humble. That means the latest autoware.universe is working.

Still the tutorials are helpful.
Check the updated readme in the humble branch:

• https://github.com/ZATiTech/open_planner/tree/humble/op_carla_bridge
• https://github.com/hatem-darweesh/op_agent/tree/ros2-humble
• https://github.com/hatem-darweesh/op_bridge/tree/ros2-humble

Enjoy.

[littlevu]

Could you guide more details for humble version? Because I cannot run successfully.

[hatem-darweesh]

@littlevu

1. Watch the tutorials carefully (part 1,2)
2. Read the updated read me for the humble branch of each repo.
   If you still have a problem. create an issue and mention me.

[littlevu]

Hi @hatem-darweesh ,

My steps include:

1. Follow this repo's guide: https://github.com/ZATiTech/open_planner/tree/humble/op_carla_bridge (System Installation section)
2. Git clone op_agent, op_bridge, scenario_runner (humble branch)
3. Modify gnss.launch.xml by adding two lines in sample_senor_kit_launch:

  <arg name="coordinate_system" default="2" description="0: UTM, 1: MGRS, 2: PLANE"/>
  <arg name="plane_zone" default="0"/>

4. Modify environment setup by my path.
5. Run simulation: ./CarlaUE4.sh -quality-level=Epic -world-port=2000 -RenderOffScreen
6. ./start_ros2.sh in op_agent with carla_map_town01_light
7. ./run_exploration_mode_ros2.sh
   But i still failed, localization module occurs an error message: "Waiting a pose..."

[hatem-darweesh]

@littlevu you are following the old documentation. use the new readme instructions.
I don't remember I have ever said step No. 3 !
the old tutorial videos are just for general guidance.

Note: this is general discussion. if you tried the correct steps and have an error DON"T keep posting the error to this discussion. Create new issue.

[hatem-darweesh]

Setup instructions is updated:
https://github.com/ZATiTech/open_planner/blob/humble/op_carla_bridge/README.md
The use of Autoware branch release/2023.10 is mandatory.

[evshary]

@hatem-darweesh I created a PR to list the available bridge for Autoware and Carla on Autoware document.
autowarefoundation/autoware-documentation#517
Would you mind adding your nice implementation to the list?
I think it would be good for the community to know some projects are working on it.

[hatem-darweesh]

@evshary Sure , it is for everyone to enjoy :)
Thanks