Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Muhammad Raditya GIOVANNI
- Maxime CLEMENT
Authors
autoware_carla_interface
ROS 2 / Autoware Universe bridge for CARLA simulator
Thanks to https://github.com/gezp for ROS 2 Humble support for CARLA Communication. This ros package enables communication between Autoware and CARLA for autonomous driving simulation.
Supported Environment
ubuntu | ros | carla | autoware |
---|---|---|---|
22.04 | humble | 0.9.15 | Main |
Setup
Install
- CARLA Installation
- Carla Lanelet2 Maps
-
Python Package for CARLA 0.9.15 ROS 2 Humble communication
- Install the wheel using pip.
- OR add the egg file to the
PYTHONPATH
.
- Download maps (y-axis inverted version) to arbitrary location
- Change names and create the map folder (example: Town01) inside
autoware_map
. (point_cloud/Town01.pcd
->autoware_map/Town01/pointcloud_map.pcd
,vector_maps/lanelet2/Town01.osm
->autoware_map/Town01/lanelet2_map.osm
) - Create
map_projector_info.yaml
on the folder and addprojector_type: Local
on the first line.
Build
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Run
- Run carla, change map, spawn object if you need
cd CARLA
./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen
- Run ros nodes
ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01
- Set initial pose (Init by GNSS)
- Set goal position
- Wait for planning
- Engage
Inner-workings / Algorithms
The InitializeInterface
class is key to setting up both the CARLA world and the ego vehicle. It fetches configuration parameters through the autoware_carla_interface.launch.xml
.
The main simulation loop runs within the carla_ros2_interface
class. This loop ticks simulation time inside the CARLA simulator at fixed_delta_seconds
time, where data is received and published as ROS 2 messages at frequencies defined in self.sensor_frequencies
.
Ego vehicle commands from Autoware are processed through the autoware_raw_vehicle_cmd_converter
, which calibrates these commands for CARLA. The calibrated commands are then fed directly into CARLA control via CarlaDataProvider
.
Configurable Parameters for World Loading
All the key parameters can be configured in autoware_carla_interface.launch.xml
.
Name | Type | Default Value | Description |
---|---|---|---|
host |
string | “localhost” | Hostname for the CARLA server |
port |
int | “2000” | Port number for the CARLA server |
timeout |
int | 20 | Timeout for the CARLA client |
ego_vehicle_role_name |
string | “ego_vehicle” | Role name for the ego vehicle |
vehicle_type |
string | “vehicle.toyota.prius” | Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in CARLA Blueprint ID |
spawn_point |
string | None | Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw] |
carla_map |
string | “Town01” | Name of the map to load in CARLA |
sync_mode |
bool | True | Boolean flag to set synchronous mode in CARLA |
fixed_delta_seconds |
double | 0.05 | Time step for the simulation (related to client FPS) |
objects_definition_file |
string | ”$(find-pkg-share autoware_carla_interface)/objects.json” | Sensor parameters file that are used for spawning sensor in CARLA |
use_traffic_manager |
bool | True | Boolean flag to set traffic manager in CARLA |
max_real_delta_seconds |
double | 0.05 | Parameter to limit the simulation speed below fixed_delta_seconds
|
config_file |
string | ”$(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml” | Control mapping file to be used in autoware_raw_vehicle_cmd_converter . Current control are calibrated based on vehicle.toyota.prius Blueprints ID in CARLA. Changing the vehicle type may need a recalibration. |
Configurable Parameters for Sensors
Below parameters can be configured in carla_ros.py
.
Name | Type | Default Value | Description |
---|---|---|---|
self.sensor_frequencies |
dict | {“top”: 11, “left”: 11, “right”: 11, “camera”: 11, “imu”: 50, “status”: 50, “pose”: 2} | (line 67) Calculates the time interval since the last publication and checks if this interval meets the minimum required to not exceed the desired frequency. It will only affect ROS publishing frequency not CARLA sensor tick. |
- CARLA sensor parameters can be configured in
config/objects.json
.- For more details regarding the parameters that can be modified in CARLA are explained in Carla Ref Sensor.
World Loading
The carla_ros.py
sets up the CARLA world:
- Client Connection:
```python
File truncated at 100 lines see the full file
Changelog for package autoware_carla_interface
0.47.0 (2025-08-11)
- style(pre-commit): autofix (#10982) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Ryohsuke Mitsudome
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_carla_interface): fix lidar topic name (#9645)
- Contributors: Fumiya Watanabe, Maxime CLEMENT
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
fix(autoware_carla_interface): include "modules" submodule in release package and update setup.py (#9561)
-
feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (#9392)
-
refactor: correct spelling (#9528)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
std_msgs | |
ament_lint_auto | |
ament_lint_common | |
autoware_perception_msgs | |
autoware_vehicle_msgs | |
geometry_msgs | |
rclpy | |
sensor_msgs | |
sensor_msgs_py | |
tf2 | |
tf2_ros | |
tier4_vehicle_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/autoware_carla_interface.launch.xml
-
- host [default: localhost]
- port [default: 2000]
- timeout [default: 20]
- ego_vehicle_role_name [default: ego_vehicle]
- vehicle_type [default: vehicle.toyota.prius]
- spawn_point [default: None]
- carla_map [default: Town01]
- sync_mode [default: True]
- fixed_delta_seconds [default: 0.05]
- objects_definition_file [default: $(find-pkg-share autoware_carla_interface)/objects.json]
- use_traffic_manager [default: False]
- max_real_delta_seconds [default: 0.05]
- input_control_cmd [default: /control/command/control_cmd]
- input_odometry [default: /localization/kinematic_state]
- input_steering [default: /vehicle/status/steering_status]
- output_actuation_cmd [default: /control/command/actuation_cmd]
- config_file [default: $(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_carla_interface at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Muhammad Raditya GIOVANNI
- Maxime CLEMENT
Authors
autoware_carla_interface
ROS 2 / Autoware Universe bridge for CARLA simulator
Thanks to https://github.com/gezp for ROS 2 Humble support for CARLA Communication. This ros package enables communication between Autoware and CARLA for autonomous driving simulation.
Supported Environment
ubuntu | ros | carla | autoware |
---|---|---|---|
22.04 | humble | 0.9.15 | Main |
Setup
Install
- CARLA Installation
- Carla Lanelet2 Maps
-
Python Package for CARLA 0.9.15 ROS 2 Humble communication
- Install the wheel using pip.
- OR add the egg file to the
PYTHONPATH
.
- Download maps (y-axis inverted version) to arbitrary location
- Change names and create the map folder (example: Town01) inside
autoware_map
. (point_cloud/Town01.pcd
->autoware_map/Town01/pointcloud_map.pcd
,vector_maps/lanelet2/Town01.osm
->autoware_map/Town01/lanelet2_map.osm
) - Create
map_projector_info.yaml
on the folder and addprojector_type: Local
on the first line.
Build
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Run
- Run carla, change map, spawn object if you need
cd CARLA
./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen
- Run ros nodes
ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01
- Set initial pose (Init by GNSS)
- Set goal position
- Wait for planning
- Engage
Inner-workings / Algorithms
The InitializeInterface
class is key to setting up both the CARLA world and the ego vehicle. It fetches configuration parameters through the autoware_carla_interface.launch.xml
.
The main simulation loop runs within the carla_ros2_interface
class. This loop ticks simulation time inside the CARLA simulator at fixed_delta_seconds
time, where data is received and published as ROS 2 messages at frequencies defined in self.sensor_frequencies
.
Ego vehicle commands from Autoware are processed through the autoware_raw_vehicle_cmd_converter
, which calibrates these commands for CARLA. The calibrated commands are then fed directly into CARLA control via CarlaDataProvider
.
Configurable Parameters for World Loading
All the key parameters can be configured in autoware_carla_interface.launch.xml
.
Name | Type | Default Value | Description |
---|---|---|---|
host |
string | “localhost” | Hostname for the CARLA server |
port |
int | “2000” | Port number for the CARLA server |
timeout |
int | 20 | Timeout for the CARLA client |
ego_vehicle_role_name |
string | “ego_vehicle” | Role name for the ego vehicle |
vehicle_type |
string | “vehicle.toyota.prius” | Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in CARLA Blueprint ID |
spawn_point |
string | None | Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw] |
carla_map |
string | “Town01” | Name of the map to load in CARLA |
sync_mode |
bool | True | Boolean flag to set synchronous mode in CARLA |
fixed_delta_seconds |
double | 0.05 | Time step for the simulation (related to client FPS) |
objects_definition_file |
string | ”$(find-pkg-share autoware_carla_interface)/objects.json” | Sensor parameters file that are used for spawning sensor in CARLA |
use_traffic_manager |
bool | True | Boolean flag to set traffic manager in CARLA |
max_real_delta_seconds |
double | 0.05 | Parameter to limit the simulation speed below fixed_delta_seconds
|
config_file |
string | ”$(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml” | Control mapping file to be used in autoware_raw_vehicle_cmd_converter . Current control are calibrated based on vehicle.toyota.prius Blueprints ID in CARLA. Changing the vehicle type may need a recalibration. |
Configurable Parameters for Sensors
Below parameters can be configured in carla_ros.py
.
Name | Type | Default Value | Description |
---|---|---|---|
self.sensor_frequencies |
dict | {“top”: 11, “left”: 11, “right”: 11, “camera”: 11, “imu”: 50, “status”: 50, “pose”: 2} | (line 67) Calculates the time interval since the last publication and checks if this interval meets the minimum required to not exceed the desired frequency. It will only affect ROS publishing frequency not CARLA sensor tick. |
- CARLA sensor parameters can be configured in
config/objects.json
.- For more details regarding the parameters that can be modified in CARLA are explained in Carla Ref Sensor.
World Loading
The carla_ros.py
sets up the CARLA world:
- Client Connection:
```python
File truncated at 100 lines see the full file
Changelog for package autoware_carla_interface
0.47.0 (2025-08-11)
- style(pre-commit): autofix (#10982) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Ryohsuke Mitsudome
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_carla_interface): fix lidar topic name (#9645)
- Contributors: Fumiya Watanabe, Maxime CLEMENT
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
fix(autoware_carla_interface): include "modules" submodule in release package and update setup.py (#9561)
-
feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (#9392)
-
refactor: correct spelling (#9528)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
std_msgs | |
ament_lint_auto | |
ament_lint_common | |
autoware_perception_msgs | |
autoware_vehicle_msgs | |
geometry_msgs | |
rclpy | |
sensor_msgs | |
sensor_msgs_py | |
tf2 | |
tf2_ros | |
tier4_vehicle_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/autoware_carla_interface.launch.xml
-
- host [default: localhost]
- port [default: 2000]
- timeout [default: 20]
- ego_vehicle_role_name [default: ego_vehicle]
- vehicle_type [default: vehicle.toyota.prius]
- spawn_point [default: None]
- carla_map [default: Town01]
- sync_mode [default: True]
- fixed_delta_seconds [default: 0.05]
- objects_definition_file [default: $(find-pkg-share autoware_carla_interface)/objects.json]
- use_traffic_manager [default: False]
- max_real_delta_seconds [default: 0.05]
- input_control_cmd [default: /control/command/control_cmd]
- input_odometry [default: /localization/kinematic_state]
- input_steering [default: /vehicle/status/steering_status]
- output_actuation_cmd [default: /control/command/actuation_cmd]
- config_file [default: $(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_carla_interface at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Muhammad Raditya GIOVANNI
- Maxime CLEMENT
Authors
autoware_carla_interface
ROS 2 / Autoware Universe bridge for CARLA simulator
Thanks to https://github.com/gezp for ROS 2 Humble support for CARLA Communication. This ros package enables communication between Autoware and CARLA for autonomous driving simulation.
Supported Environment
ubuntu | ros | carla | autoware |
---|---|---|---|
22.04 | humble | 0.9.15 | Main |
Setup
Install
- CARLA Installation
- Carla Lanelet2 Maps
-
Python Package for CARLA 0.9.15 ROS 2 Humble communication
- Install the wheel using pip.
- OR add the egg file to the
PYTHONPATH
.
- Download maps (y-axis inverted version) to arbitrary location
- Change names and create the map folder (example: Town01) inside
autoware_map
. (point_cloud/Town01.pcd
->autoware_map/Town01/pointcloud_map.pcd
,vector_maps/lanelet2/Town01.osm
->autoware_map/Town01/lanelet2_map.osm
) - Create
map_projector_info.yaml
on the folder and addprojector_type: Local
on the first line.
Build
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Run
- Run carla, change map, spawn object if you need
cd CARLA
./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen
- Run ros nodes
ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01
- Set initial pose (Init by GNSS)
- Set goal position
- Wait for planning
- Engage
Inner-workings / Algorithms
The InitializeInterface
class is key to setting up both the CARLA world and the ego vehicle. It fetches configuration parameters through the autoware_carla_interface.launch.xml
.
The main simulation loop runs within the carla_ros2_interface
class. This loop ticks simulation time inside the CARLA simulator at fixed_delta_seconds
time, where data is received and published as ROS 2 messages at frequencies defined in self.sensor_frequencies
.
Ego vehicle commands from Autoware are processed through the autoware_raw_vehicle_cmd_converter
, which calibrates these commands for CARLA. The calibrated commands are then fed directly into CARLA control via CarlaDataProvider
.
Configurable Parameters for World Loading
All the key parameters can be configured in autoware_carla_interface.launch.xml
.
Name | Type | Default Value | Description |
---|---|---|---|
host |
string | “localhost” | Hostname for the CARLA server |
port |
int | “2000” | Port number for the CARLA server |
timeout |
int | 20 | Timeout for the CARLA client |
ego_vehicle_role_name |
string | “ego_vehicle” | Role name for the ego vehicle |
vehicle_type |
string | “vehicle.toyota.prius” | Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in CARLA Blueprint ID |
spawn_point |
string | None | Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw] |
carla_map |
string | “Town01” | Name of the map to load in CARLA |
sync_mode |
bool | True | Boolean flag to set synchronous mode in CARLA |
fixed_delta_seconds |
double | 0.05 | Time step for the simulation (related to client FPS) |
objects_definition_file |
string | ”$(find-pkg-share autoware_carla_interface)/objects.json” | Sensor parameters file that are used for spawning sensor in CARLA |
use_traffic_manager |
bool | True | Boolean flag to set traffic manager in CARLA |
max_real_delta_seconds |
double | 0.05 | Parameter to limit the simulation speed below fixed_delta_seconds
|
config_file |
string | ”$(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml” | Control mapping file to be used in autoware_raw_vehicle_cmd_converter . Current control are calibrated based on vehicle.toyota.prius Blueprints ID in CARLA. Changing the vehicle type may need a recalibration. |
Configurable Parameters for Sensors
Below parameters can be configured in carla_ros.py
.
Name | Type | Default Value | Description |
---|---|---|---|
self.sensor_frequencies |
dict | {“top”: 11, “left”: 11, “right”: 11, “camera”: 11, “imu”: 50, “status”: 50, “pose”: 2} | (line 67) Calculates the time interval since the last publication and checks if this interval meets the minimum required to not exceed the desired frequency. It will only affect ROS publishing frequency not CARLA sensor tick. |
- CARLA sensor parameters can be configured in
config/objects.json
.- For more details regarding the parameters that can be modified in CARLA are explained in Carla Ref Sensor.
World Loading
The carla_ros.py
sets up the CARLA world:
- Client Connection:
```python
File truncated at 100 lines see the full file
Changelog for package autoware_carla_interface
0.47.0 (2025-08-11)
- style(pre-commit): autofix (#10982) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Ryohsuke Mitsudome
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_carla_interface): fix lidar topic name (#9645)
- Contributors: Fumiya Watanabe, Maxime CLEMENT
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
fix(autoware_carla_interface): include "modules" submodule in release package and update setup.py (#9561)
-
feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (#9392)
-
refactor: correct spelling (#9528)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
std_msgs | |
ament_lint_auto | |
ament_lint_common | |
autoware_perception_msgs | |
autoware_vehicle_msgs | |
geometry_msgs | |
rclpy | |
sensor_msgs | |
sensor_msgs_py | |
tf2 | |
tf2_ros | |
tier4_vehicle_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/autoware_carla_interface.launch.xml
-
- host [default: localhost]
- port [default: 2000]
- timeout [default: 20]
- ego_vehicle_role_name [default: ego_vehicle]
- vehicle_type [default: vehicle.toyota.prius]
- spawn_point [default: None]
- carla_map [default: Town01]
- sync_mode [default: True]
- fixed_delta_seconds [default: 0.05]
- objects_definition_file [default: $(find-pkg-share autoware_carla_interface)/objects.json]
- use_traffic_manager [default: False]
- max_real_delta_seconds [default: 0.05]
- input_control_cmd [default: /control/command/control_cmd]
- input_odometry [default: /localization/kinematic_state]
- input_steering [default: /vehicle/status/steering_status]
- output_actuation_cmd [default: /control/command/actuation_cmd]
- config_file [default: $(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_carla_interface at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Muhammad Raditya GIOVANNI
- Maxime CLEMENT
Authors
autoware_carla_interface
ROS 2 / Autoware Universe bridge for CARLA simulator
Thanks to https://github.com/gezp for ROS 2 Humble support for CARLA Communication. This ros package enables communication between Autoware and CARLA for autonomous driving simulation.
Supported Environment
ubuntu | ros | carla | autoware |
---|---|---|---|
22.04 | humble | 0.9.15 | Main |
Setup
Install
- CARLA Installation
- Carla Lanelet2 Maps
-
Python Package for CARLA 0.9.15 ROS 2 Humble communication
- Install the wheel using pip.
- OR add the egg file to the
PYTHONPATH
.
- Download maps (y-axis inverted version) to arbitrary location
- Change names and create the map folder (example: Town01) inside
autoware_map
. (point_cloud/Town01.pcd
->autoware_map/Town01/pointcloud_map.pcd
,vector_maps/lanelet2/Town01.osm
->autoware_map/Town01/lanelet2_map.osm
) - Create
map_projector_info.yaml
on the folder and addprojector_type: Local
on the first line.
Build
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Run
- Run carla, change map, spawn object if you need
cd CARLA
./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen
- Run ros nodes
ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01
- Set initial pose (Init by GNSS)
- Set goal position
- Wait for planning
- Engage
Inner-workings / Algorithms
The InitializeInterface
class is key to setting up both the CARLA world and the ego vehicle. It fetches configuration parameters through the autoware_carla_interface.launch.xml
.
The main simulation loop runs within the carla_ros2_interface
class. This loop ticks simulation time inside the CARLA simulator at fixed_delta_seconds
time, where data is received and published as ROS 2 messages at frequencies defined in self.sensor_frequencies
.
Ego vehicle commands from Autoware are processed through the autoware_raw_vehicle_cmd_converter
, which calibrates these commands for CARLA. The calibrated commands are then fed directly into CARLA control via CarlaDataProvider
.
Configurable Parameters for World Loading
All the key parameters can be configured in autoware_carla_interface.launch.xml
.
Name | Type | Default Value | Description |
---|---|---|---|
host |
string | “localhost” | Hostname for the CARLA server |
port |
int | “2000” | Port number for the CARLA server |
timeout |
int | 20 | Timeout for the CARLA client |
ego_vehicle_role_name |
string | “ego_vehicle” | Role name for the ego vehicle |
vehicle_type |
string | “vehicle.toyota.prius” | Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in CARLA Blueprint ID |
spawn_point |
string | None | Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw] |
carla_map |
string | “Town01” | Name of the map to load in CARLA |
sync_mode |
bool | True | Boolean flag to set synchronous mode in CARLA |
fixed_delta_seconds |
double | 0.05 | Time step for the simulation (related to client FPS) |
objects_definition_file |
string | ”$(find-pkg-share autoware_carla_interface)/objects.json” | Sensor parameters file that are used for spawning sensor in CARLA |
use_traffic_manager |
bool | True | Boolean flag to set traffic manager in CARLA |
max_real_delta_seconds |
double | 0.05 | Parameter to limit the simulation speed below fixed_delta_seconds
|
config_file |
string | ”$(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml” | Control mapping file to be used in autoware_raw_vehicle_cmd_converter . Current control are calibrated based on vehicle.toyota.prius Blueprints ID in CARLA. Changing the vehicle type may need a recalibration. |
Configurable Parameters for Sensors
Below parameters can be configured in carla_ros.py
.
Name | Type | Default Value | Description |
---|---|---|---|
self.sensor_frequencies |
dict | {“top”: 11, “left”: 11, “right”: 11, “camera”: 11, “imu”: 50, “status”: 50, “pose”: 2} | (line 67) Calculates the time interval since the last publication and checks if this interval meets the minimum required to not exceed the desired frequency. It will only affect ROS publishing frequency not CARLA sensor tick. |
- CARLA sensor parameters can be configured in
config/objects.json
.- For more details regarding the parameters that can be modified in CARLA are explained in Carla Ref Sensor.
World Loading
The carla_ros.py
sets up the CARLA world:
- Client Connection:
```python
File truncated at 100 lines see the full file
Changelog for package autoware_carla_interface
0.47.0 (2025-08-11)
- style(pre-commit): autofix (#10982) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Ryohsuke Mitsudome
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_carla_interface): fix lidar topic name (#9645)
- Contributors: Fumiya Watanabe, Maxime CLEMENT
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
fix(autoware_carla_interface): include "modules" submodule in release package and update setup.py (#9561)
-
feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (#9392)
-
refactor: correct spelling (#9528)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
std_msgs | |
ament_lint_auto | |
ament_lint_common | |
autoware_perception_msgs | |
autoware_vehicle_msgs | |
geometry_msgs | |
rclpy | |
sensor_msgs | |
sensor_msgs_py | |
tf2 | |
tf2_ros | |
tier4_vehicle_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/autoware_carla_interface.launch.xml
-
- host [default: localhost]
- port [default: 2000]
- timeout [default: 20]
- ego_vehicle_role_name [default: ego_vehicle]
- vehicle_type [default: vehicle.toyota.prius]
- spawn_point [default: None]
- carla_map [default: Town01]
- sync_mode [default: True]
- fixed_delta_seconds [default: 0.05]
- objects_definition_file [default: $(find-pkg-share autoware_carla_interface)/objects.json]
- use_traffic_manager [default: False]
- max_real_delta_seconds [default: 0.05]
- input_control_cmd [default: /control/command/control_cmd]
- input_odometry [default: /localization/kinematic_state]
- input_steering [default: /vehicle/status/steering_status]
- output_actuation_cmd [default: /control/command/actuation_cmd]
- config_file [default: $(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_carla_interface at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Muhammad Raditya GIOVANNI
- Maxime CLEMENT
Authors
autoware_carla_interface
ROS 2 / Autoware Universe bridge for CARLA simulator
Thanks to https://github.com/gezp for ROS 2 Humble support for CARLA Communication. This ros package enables communication between Autoware and CARLA for autonomous driving simulation.
Supported Environment
ubuntu | ros | carla | autoware |
---|---|---|---|
22.04 | humble | 0.9.15 | Main |
Setup
Install
- CARLA Installation
- Carla Lanelet2 Maps
-
Python Package for CARLA 0.9.15 ROS 2 Humble communication
- Install the wheel using pip.
- OR add the egg file to the
PYTHONPATH
.
- Download maps (y-axis inverted version) to arbitrary location
- Change names and create the map folder (example: Town01) inside
autoware_map
. (point_cloud/Town01.pcd
->autoware_map/Town01/pointcloud_map.pcd
,vector_maps/lanelet2/Town01.osm
->autoware_map/Town01/lanelet2_map.osm
) - Create
map_projector_info.yaml
on the folder and addprojector_type: Local
on the first line.
Build
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Run
- Run carla, change map, spawn object if you need
cd CARLA
./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen
- Run ros nodes
ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01
- Set initial pose (Init by GNSS)
- Set goal position
- Wait for planning
- Engage
Inner-workings / Algorithms
The InitializeInterface
class is key to setting up both the CARLA world and the ego vehicle. It fetches configuration parameters through the autoware_carla_interface.launch.xml
.
The main simulation loop runs within the carla_ros2_interface
class. This loop ticks simulation time inside the CARLA simulator at fixed_delta_seconds
time, where data is received and published as ROS 2 messages at frequencies defined in self.sensor_frequencies
.
Ego vehicle commands from Autoware are processed through the autoware_raw_vehicle_cmd_converter
, which calibrates these commands for CARLA. The calibrated commands are then fed directly into CARLA control via CarlaDataProvider
.
Configurable Parameters for World Loading
All the key parameters can be configured in autoware_carla_interface.launch.xml
.
Name | Type | Default Value | Description |
---|---|---|---|
host |
string | “localhost” | Hostname for the CARLA server |
port |
int | “2000” | Port number for the CARLA server |
timeout |
int | 20 | Timeout for the CARLA client |
ego_vehicle_role_name |
string | “ego_vehicle” | Role name for the ego vehicle |
vehicle_type |
string | “vehicle.toyota.prius” | Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in CARLA Blueprint ID |
spawn_point |
string | None | Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw] |
carla_map |
string | “Town01” | Name of the map to load in CARLA |
sync_mode |
bool | True | Boolean flag to set synchronous mode in CARLA |
fixed_delta_seconds |
double | 0.05 | Time step for the simulation (related to client FPS) |
objects_definition_file |
string | ”$(find-pkg-share autoware_carla_interface)/objects.json” | Sensor parameters file that are used for spawning sensor in CARLA |
use_traffic_manager |
bool | True | Boolean flag to set traffic manager in CARLA |
max_real_delta_seconds |
double | 0.05 | Parameter to limit the simulation speed below fixed_delta_seconds
|
config_file |
string | ”$(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml” | Control mapping file to be used in autoware_raw_vehicle_cmd_converter . Current control are calibrated based on vehicle.toyota.prius Blueprints ID in CARLA. Changing the vehicle type may need a recalibration. |
Configurable Parameters for Sensors
Below parameters can be configured in carla_ros.py
.
Name | Type | Default Value | Description |
---|---|---|---|
self.sensor_frequencies |
dict | {“top”: 11, “left”: 11, “right”: 11, “camera”: 11, “imu”: 50, “status”: 50, “pose”: 2} | (line 67) Calculates the time interval since the last publication and checks if this interval meets the minimum required to not exceed the desired frequency. It will only affect ROS publishing frequency not CARLA sensor tick. |
- CARLA sensor parameters can be configured in
config/objects.json
.- For more details regarding the parameters that can be modified in CARLA are explained in Carla Ref Sensor.
World Loading
The carla_ros.py
sets up the CARLA world:
- Client Connection:
```python
File truncated at 100 lines see the full file
Changelog for package autoware_carla_interface
0.47.0 (2025-08-11)
- style(pre-commit): autofix (#10982) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Ryohsuke Mitsudome
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_carla_interface): fix lidar topic name (#9645)
- Contributors: Fumiya Watanabe, Maxime CLEMENT
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
fix(autoware_carla_interface): include "modules" submodule in release package and update setup.py (#9561)
-
feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (#9392)
-
refactor: correct spelling (#9528)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
std_msgs | |
ament_lint_auto | |
ament_lint_common | |
autoware_perception_msgs | |
autoware_vehicle_msgs | |
geometry_msgs | |
rclpy | |
sensor_msgs | |
sensor_msgs_py | |
tf2 | |
tf2_ros | |
tier4_vehicle_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/autoware_carla_interface.launch.xml
-
- host [default: localhost]
- port [default: 2000]
- timeout [default: 20]
- ego_vehicle_role_name [default: ego_vehicle]
- vehicle_type [default: vehicle.toyota.prius]
- spawn_point [default: None]
- carla_map [default: Town01]
- sync_mode [default: True]
- fixed_delta_seconds [default: 0.05]
- objects_definition_file [default: $(find-pkg-share autoware_carla_interface)/objects.json]
- use_traffic_manager [default: False]
- max_real_delta_seconds [default: 0.05]
- input_control_cmd [default: /control/command/control_cmd]
- input_odometry [default: /localization/kinematic_state]
- input_steering [default: /vehicle/status/steering_status]
- output_actuation_cmd [default: /control/command/actuation_cmd]
- config_file [default: $(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_carla_interface at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Muhammad Raditya GIOVANNI
- Maxime CLEMENT
Authors
autoware_carla_interface
ROS 2 / Autoware Universe bridge for CARLA simulator
Thanks to https://github.com/gezp for ROS 2 Humble support for CARLA Communication. This ros package enables communication between Autoware and CARLA for autonomous driving simulation.
Supported Environment
ubuntu | ros | carla | autoware |
---|---|---|---|
22.04 | humble | 0.9.15 | Main |
Setup
Install
- CARLA Installation
- Carla Lanelet2 Maps
-
Python Package for CARLA 0.9.15 ROS 2 Humble communication
- Install the wheel using pip.
- OR add the egg file to the
PYTHONPATH
.
- Download maps (y-axis inverted version) to arbitrary location
- Change names and create the map folder (example: Town01) inside
autoware_map
. (point_cloud/Town01.pcd
->autoware_map/Town01/pointcloud_map.pcd
,vector_maps/lanelet2/Town01.osm
->autoware_map/Town01/lanelet2_map.osm
) - Create
map_projector_info.yaml
on the folder and addprojector_type: Local
on the first line.
Build
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Run
- Run carla, change map, spawn object if you need
cd CARLA
./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen
- Run ros nodes
ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01
- Set initial pose (Init by GNSS)
- Set goal position
- Wait for planning
- Engage
Inner-workings / Algorithms
The InitializeInterface
class is key to setting up both the CARLA world and the ego vehicle. It fetches configuration parameters through the autoware_carla_interface.launch.xml
.
The main simulation loop runs within the carla_ros2_interface
class. This loop ticks simulation time inside the CARLA simulator at fixed_delta_seconds
time, where data is received and published as ROS 2 messages at frequencies defined in self.sensor_frequencies
.
Ego vehicle commands from Autoware are processed through the autoware_raw_vehicle_cmd_converter
, which calibrates these commands for CARLA. The calibrated commands are then fed directly into CARLA control via CarlaDataProvider
.
Configurable Parameters for World Loading
All the key parameters can be configured in autoware_carla_interface.launch.xml
.
Name | Type | Default Value | Description |
---|---|---|---|
host |
string | “localhost” | Hostname for the CARLA server |
port |
int | “2000” | Port number for the CARLA server |
timeout |
int | 20 | Timeout for the CARLA client |
ego_vehicle_role_name |
string | “ego_vehicle” | Role name for the ego vehicle |
vehicle_type |
string | “vehicle.toyota.prius” | Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in CARLA Blueprint ID |
spawn_point |
string | None | Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw] |
carla_map |
string | “Town01” | Name of the map to load in CARLA |
sync_mode |
bool | True | Boolean flag to set synchronous mode in CARLA |
fixed_delta_seconds |
double | 0.05 | Time step for the simulation (related to client FPS) |
objects_definition_file |
string | ”$(find-pkg-share autoware_carla_interface)/objects.json” | Sensor parameters file that are used for spawning sensor in CARLA |
use_traffic_manager |
bool | True | Boolean flag to set traffic manager in CARLA |
max_real_delta_seconds |
double | 0.05 | Parameter to limit the simulation speed below fixed_delta_seconds
|
config_file |
string | ”$(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml” | Control mapping file to be used in autoware_raw_vehicle_cmd_converter . Current control are calibrated based on vehicle.toyota.prius Blueprints ID in CARLA. Changing the vehicle type may need a recalibration. |
Configurable Parameters for Sensors
Below parameters can be configured in carla_ros.py
.
Name | Type | Default Value | Description |
---|---|---|---|
self.sensor_frequencies |
dict | {“top”: 11, “left”: 11, “right”: 11, “camera”: 11, “imu”: 50, “status”: 50, “pose”: 2} | (line 67) Calculates the time interval since the last publication and checks if this interval meets the minimum required to not exceed the desired frequency. It will only affect ROS publishing frequency not CARLA sensor tick. |
- CARLA sensor parameters can be configured in
config/objects.json
.- For more details regarding the parameters that can be modified in CARLA are explained in Carla Ref Sensor.
World Loading
The carla_ros.py
sets up the CARLA world:
- Client Connection:
```python
File truncated at 100 lines see the full file
Changelog for package autoware_carla_interface
0.47.0 (2025-08-11)
- style(pre-commit): autofix (#10982) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Ryohsuke Mitsudome
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_carla_interface): fix lidar topic name (#9645)
- Contributors: Fumiya Watanabe, Maxime CLEMENT
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
fix(autoware_carla_interface): include "modules" submodule in release package and update setup.py (#9561)
-
feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (#9392)
-
refactor: correct spelling (#9528)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
std_msgs | |
ament_lint_auto | |
ament_lint_common | |
autoware_perception_msgs | |
autoware_vehicle_msgs | |
geometry_msgs | |
rclpy | |
sensor_msgs | |
sensor_msgs_py | |
tf2 | |
tf2_ros | |
tier4_vehicle_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/autoware_carla_interface.launch.xml
-
- host [default: localhost]
- port [default: 2000]
- timeout [default: 20]
- ego_vehicle_role_name [default: ego_vehicle]
- vehicle_type [default: vehicle.toyota.prius]
- spawn_point [default: None]
- carla_map [default: Town01]
- sync_mode [default: True]
- fixed_delta_seconds [default: 0.05]
- objects_definition_file [default: $(find-pkg-share autoware_carla_interface)/objects.json]
- use_traffic_manager [default: False]
- max_real_delta_seconds [default: 0.05]
- input_control_cmd [default: /control/command/control_cmd]
- input_odometry [default: /localization/kinematic_state]
- input_steering [default: /vehicle/status/steering_status]
- output_actuation_cmd [default: /control/command/actuation_cmd]
- config_file [default: $(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_carla_interface at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Muhammad Raditya GIOVANNI
- Maxime CLEMENT
Authors
autoware_carla_interface
ROS 2 / Autoware Universe bridge for CARLA simulator
Thanks to https://github.com/gezp for ROS 2 Humble support for CARLA Communication. This ros package enables communication between Autoware and CARLA for autonomous driving simulation.
Supported Environment
ubuntu | ros | carla | autoware |
---|---|---|---|
22.04 | humble | 0.9.15 | Main |
Setup
Install
- CARLA Installation
- Carla Lanelet2 Maps
-
Python Package for CARLA 0.9.15 ROS 2 Humble communication
- Install the wheel using pip.
- OR add the egg file to the
PYTHONPATH
.
- Download maps (y-axis inverted version) to arbitrary location
- Change names and create the map folder (example: Town01) inside
autoware_map
. (point_cloud/Town01.pcd
->autoware_map/Town01/pointcloud_map.pcd
,vector_maps/lanelet2/Town01.osm
->autoware_map/Town01/lanelet2_map.osm
) - Create
map_projector_info.yaml
on the folder and addprojector_type: Local
on the first line.
Build
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Run
- Run carla, change map, spawn object if you need
cd CARLA
./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen
- Run ros nodes
ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01
- Set initial pose (Init by GNSS)
- Set goal position
- Wait for planning
- Engage
Inner-workings / Algorithms
The InitializeInterface
class is key to setting up both the CARLA world and the ego vehicle. It fetches configuration parameters through the autoware_carla_interface.launch.xml
.
The main simulation loop runs within the carla_ros2_interface
class. This loop ticks simulation time inside the CARLA simulator at fixed_delta_seconds
time, where data is received and published as ROS 2 messages at frequencies defined in self.sensor_frequencies
.
Ego vehicle commands from Autoware are processed through the autoware_raw_vehicle_cmd_converter
, which calibrates these commands for CARLA. The calibrated commands are then fed directly into CARLA control via CarlaDataProvider
.
Configurable Parameters for World Loading
All the key parameters can be configured in autoware_carla_interface.launch.xml
.
Name | Type | Default Value | Description |
---|---|---|---|
host |
string | “localhost” | Hostname for the CARLA server |
port |
int | “2000” | Port number for the CARLA server |
timeout |
int | 20 | Timeout for the CARLA client |
ego_vehicle_role_name |
string | “ego_vehicle” | Role name for the ego vehicle |
vehicle_type |
string | “vehicle.toyota.prius” | Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in CARLA Blueprint ID |
spawn_point |
string | None | Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw] |
carla_map |
string | “Town01” | Name of the map to load in CARLA |
sync_mode |
bool | True | Boolean flag to set synchronous mode in CARLA |
fixed_delta_seconds |
double | 0.05 | Time step for the simulation (related to client FPS) |
objects_definition_file |
string | ”$(find-pkg-share autoware_carla_interface)/objects.json” | Sensor parameters file that are used for spawning sensor in CARLA |
use_traffic_manager |
bool | True | Boolean flag to set traffic manager in CARLA |
max_real_delta_seconds |
double | 0.05 | Parameter to limit the simulation speed below fixed_delta_seconds
|
config_file |
string | ”$(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml” | Control mapping file to be used in autoware_raw_vehicle_cmd_converter . Current control are calibrated based on vehicle.toyota.prius Blueprints ID in CARLA. Changing the vehicle type may need a recalibration. |
Configurable Parameters for Sensors
Below parameters can be configured in carla_ros.py
.
Name | Type | Default Value | Description |
---|---|---|---|
self.sensor_frequencies |
dict | {“top”: 11, “left”: 11, “right”: 11, “camera”: 11, “imu”: 50, “status”: 50, “pose”: 2} | (line 67) Calculates the time interval since the last publication and checks if this interval meets the minimum required to not exceed the desired frequency. It will only affect ROS publishing frequency not CARLA sensor tick. |
- CARLA sensor parameters can be configured in
config/objects.json
.- For more details regarding the parameters that can be modified in CARLA are explained in Carla Ref Sensor.
World Loading
The carla_ros.py
sets up the CARLA world:
- Client Connection:
```python
File truncated at 100 lines see the full file
Changelog for package autoware_carla_interface
0.47.0 (2025-08-11)
- style(pre-commit): autofix (#10982) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Ryohsuke Mitsudome
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_carla_interface): fix lidar topic name (#9645)
- Contributors: Fumiya Watanabe, Maxime CLEMENT
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
fix(autoware_carla_interface): include "modules" submodule in release package and update setup.py (#9561)
-
feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (#9392)
-
refactor: correct spelling (#9528)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
std_msgs | |
ament_lint_auto | |
ament_lint_common | |
autoware_perception_msgs | |
autoware_vehicle_msgs | |
geometry_msgs | |
rclpy | |
sensor_msgs | |
sensor_msgs_py | |
tf2 | |
tf2_ros | |
tier4_vehicle_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/autoware_carla_interface.launch.xml
-
- host [default: localhost]
- port [default: 2000]
- timeout [default: 20]
- ego_vehicle_role_name [default: ego_vehicle]
- vehicle_type [default: vehicle.toyota.prius]
- spawn_point [default: None]
- carla_map [default: Town01]
- sync_mode [default: True]
- fixed_delta_seconds [default: 0.05]
- objects_definition_file [default: $(find-pkg-share autoware_carla_interface)/objects.json]
- use_traffic_manager [default: False]
- max_real_delta_seconds [default: 0.05]
- input_control_cmd [default: /control/command/control_cmd]
- input_odometry [default: /localization/kinematic_state]
- input_steering [default: /vehicle/status/steering_status]
- output_actuation_cmd [default: /control/command/actuation_cmd]
- config_file [default: $(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_carla_interface at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Muhammad Raditya GIOVANNI
- Maxime CLEMENT
Authors
autoware_carla_interface
ROS 2 / Autoware Universe bridge for CARLA simulator
Thanks to https://github.com/gezp for ROS 2 Humble support for CARLA Communication. This ros package enables communication between Autoware and CARLA for autonomous driving simulation.
Supported Environment
ubuntu | ros | carla | autoware |
---|---|---|---|
22.04 | humble | 0.9.15 | Main |
Setup
Install
- CARLA Installation
- Carla Lanelet2 Maps
-
Python Package for CARLA 0.9.15 ROS 2 Humble communication
- Install the wheel using pip.
- OR add the egg file to the
PYTHONPATH
.
- Download maps (y-axis inverted version) to arbitrary location
- Change names and create the map folder (example: Town01) inside
autoware_map
. (point_cloud/Town01.pcd
->autoware_map/Town01/pointcloud_map.pcd
,vector_maps/lanelet2/Town01.osm
->autoware_map/Town01/lanelet2_map.osm
) - Create
map_projector_info.yaml
on the folder and addprojector_type: Local
on the first line.
Build
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Run
- Run carla, change map, spawn object if you need
cd CARLA
./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen
- Run ros nodes
ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01
- Set initial pose (Init by GNSS)
- Set goal position
- Wait for planning
- Engage
Inner-workings / Algorithms
The InitializeInterface
class is key to setting up both the CARLA world and the ego vehicle. It fetches configuration parameters through the autoware_carla_interface.launch.xml
.
The main simulation loop runs within the carla_ros2_interface
class. This loop ticks simulation time inside the CARLA simulator at fixed_delta_seconds
time, where data is received and published as ROS 2 messages at frequencies defined in self.sensor_frequencies
.
Ego vehicle commands from Autoware are processed through the autoware_raw_vehicle_cmd_converter
, which calibrates these commands for CARLA. The calibrated commands are then fed directly into CARLA control via CarlaDataProvider
.
Configurable Parameters for World Loading
All the key parameters can be configured in autoware_carla_interface.launch.xml
.
Name | Type | Default Value | Description |
---|---|---|---|
host |
string | “localhost” | Hostname for the CARLA server |
port |
int | “2000” | Port number for the CARLA server |
timeout |
int | 20 | Timeout for the CARLA client |
ego_vehicle_role_name |
string | “ego_vehicle” | Role name for the ego vehicle |
vehicle_type |
string | “vehicle.toyota.prius” | Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in CARLA Blueprint ID |
spawn_point |
string | None | Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw] |
carla_map |
string | “Town01” | Name of the map to load in CARLA |
sync_mode |
bool | True | Boolean flag to set synchronous mode in CARLA |
fixed_delta_seconds |
double | 0.05 | Time step for the simulation (related to client FPS) |
objects_definition_file |
string | ”$(find-pkg-share autoware_carla_interface)/objects.json” | Sensor parameters file that are used for spawning sensor in CARLA |
use_traffic_manager |
bool | True | Boolean flag to set traffic manager in CARLA |
max_real_delta_seconds |
double | 0.05 | Parameter to limit the simulation speed below fixed_delta_seconds
|
config_file |
string | ”$(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml” | Control mapping file to be used in autoware_raw_vehicle_cmd_converter . Current control are calibrated based on vehicle.toyota.prius Blueprints ID in CARLA. Changing the vehicle type may need a recalibration. |
Configurable Parameters for Sensors
Below parameters can be configured in carla_ros.py
.
Name | Type | Default Value | Description |
---|---|---|---|
self.sensor_frequencies |
dict | {“top”: 11, “left”: 11, “right”: 11, “camera”: 11, “imu”: 50, “status”: 50, “pose”: 2} | (line 67) Calculates the time interval since the last publication and checks if this interval meets the minimum required to not exceed the desired frequency. It will only affect ROS publishing frequency not CARLA sensor tick. |
- CARLA sensor parameters can be configured in
config/objects.json
.- For more details regarding the parameters that can be modified in CARLA are explained in Carla Ref Sensor.
World Loading
The carla_ros.py
sets up the CARLA world:
- Client Connection:
```python
File truncated at 100 lines see the full file
Changelog for package autoware_carla_interface
0.47.0 (2025-08-11)
- style(pre-commit): autofix (#10982) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Ryohsuke Mitsudome
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_carla_interface): fix lidar topic name (#9645)
- Contributors: Fumiya Watanabe, Maxime CLEMENT
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
fix(autoware_carla_interface): include "modules" submodule in release package and update setup.py (#9561)
-
feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (#9392)
-
refactor: correct spelling (#9528)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
std_msgs | |
ament_lint_auto | |
ament_lint_common | |
autoware_perception_msgs | |
autoware_vehicle_msgs | |
geometry_msgs | |
rclpy | |
sensor_msgs | |
sensor_msgs_py | |
tf2 | |
tf2_ros | |
tier4_vehicle_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/autoware_carla_interface.launch.xml
-
- host [default: localhost]
- port [default: 2000]
- timeout [default: 20]
- ego_vehicle_role_name [default: ego_vehicle]
- vehicle_type [default: vehicle.toyota.prius]
- spawn_point [default: None]
- carla_map [default: Town01]
- sync_mode [default: True]
- fixed_delta_seconds [default: 0.05]
- objects_definition_file [default: $(find-pkg-share autoware_carla_interface)/objects.json]
- use_traffic_manager [default: False]
- max_real_delta_seconds [default: 0.05]
- input_control_cmd [default: /control/command/control_cmd]
- input_odometry [default: /localization/kinematic_state]
- input_steering [default: /vehicle/status/steering_status]
- output_actuation_cmd [default: /control/command/actuation_cmd]
- config_file [default: $(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_carla_interface at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_PYTHON |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Muhammad Raditya GIOVANNI
- Maxime CLEMENT
Authors
autoware_carla_interface
ROS 2 / Autoware Universe bridge for CARLA simulator
Thanks to https://github.com/gezp for ROS 2 Humble support for CARLA Communication. This ros package enables communication between Autoware and CARLA for autonomous driving simulation.
Supported Environment
ubuntu | ros | carla | autoware |
---|---|---|---|
22.04 | humble | 0.9.15 | Main |
Setup
Install
- CARLA Installation
- Carla Lanelet2 Maps
-
Python Package for CARLA 0.9.15 ROS 2 Humble communication
- Install the wheel using pip.
- OR add the egg file to the
PYTHONPATH
.
- Download maps (y-axis inverted version) to arbitrary location
- Change names and create the map folder (example: Town01) inside
autoware_map
. (point_cloud/Town01.pcd
->autoware_map/Town01/pointcloud_map.pcd
,vector_maps/lanelet2/Town01.osm
->autoware_map/Town01/lanelet2_map.osm
) - Create
map_projector_info.yaml
on the folder and addprojector_type: Local
on the first line.
Build
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Run
- Run carla, change map, spawn object if you need
cd CARLA
./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen
- Run ros nodes
ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01
- Set initial pose (Init by GNSS)
- Set goal position
- Wait for planning
- Engage
Inner-workings / Algorithms
The InitializeInterface
class is key to setting up both the CARLA world and the ego vehicle. It fetches configuration parameters through the autoware_carla_interface.launch.xml
.
The main simulation loop runs within the carla_ros2_interface
class. This loop ticks simulation time inside the CARLA simulator at fixed_delta_seconds
time, where data is received and published as ROS 2 messages at frequencies defined in self.sensor_frequencies
.
Ego vehicle commands from Autoware are processed through the autoware_raw_vehicle_cmd_converter
, which calibrates these commands for CARLA. The calibrated commands are then fed directly into CARLA control via CarlaDataProvider
.
Configurable Parameters for World Loading
All the key parameters can be configured in autoware_carla_interface.launch.xml
.
Name | Type | Default Value | Description |
---|---|---|---|
host |
string | “localhost” | Hostname for the CARLA server |
port |
int | “2000” | Port number for the CARLA server |
timeout |
int | 20 | Timeout for the CARLA client |
ego_vehicle_role_name |
string | “ego_vehicle” | Role name for the ego vehicle |
vehicle_type |
string | “vehicle.toyota.prius” | Blueprint ID of the vehicle to spawn. The Blueprint ID of vehicles can be found in CARLA Blueprint ID |
spawn_point |
string | None | Coordinates for spawning the ego vehicle (None is random). Format = [x, y, z, roll, pitch, yaw] |
carla_map |
string | “Town01” | Name of the map to load in CARLA |
sync_mode |
bool | True | Boolean flag to set synchronous mode in CARLA |
fixed_delta_seconds |
double | 0.05 | Time step for the simulation (related to client FPS) |
objects_definition_file |
string | ”$(find-pkg-share autoware_carla_interface)/objects.json” | Sensor parameters file that are used for spawning sensor in CARLA |
use_traffic_manager |
bool | True | Boolean flag to set traffic manager in CARLA |
max_real_delta_seconds |
double | 0.05 | Parameter to limit the simulation speed below fixed_delta_seconds
|
config_file |
string | ”$(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml” | Control mapping file to be used in autoware_raw_vehicle_cmd_converter . Current control are calibrated based on vehicle.toyota.prius Blueprints ID in CARLA. Changing the vehicle type may need a recalibration. |
Configurable Parameters for Sensors
Below parameters can be configured in carla_ros.py
.
Name | Type | Default Value | Description |
---|---|---|---|
self.sensor_frequencies |
dict | {“top”: 11, “left”: 11, “right”: 11, “camera”: 11, “imu”: 50, “status”: 50, “pose”: 2} | (line 67) Calculates the time interval since the last publication and checks if this interval meets the minimum required to not exceed the desired frequency. It will only affect ROS publishing frequency not CARLA sensor tick. |
- CARLA sensor parameters can be configured in
config/objects.json
.- For more details regarding the parameters that can be modified in CARLA are explained in Carla Ref Sensor.
World Loading
The carla_ros.py
sets up the CARLA world:
- Client Connection:
```python
File truncated at 100 lines see the full file
Changelog for package autoware_carla_interface
0.47.0 (2025-08-11)
- style(pre-commit): autofix (#10982) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Ryohsuke Mitsudome
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_carla_interface): fix lidar topic name (#9645)
- Contributors: Fumiya Watanabe, Maxime CLEMENT
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
fix(autoware_carla_interface): include "modules" submodule in release package and update setup.py (#9561)
-
feat!: replace tier4_map_msgs with autoware_map_msgs for MapProjectorInfo (#9392)
-
refactor: correct spelling (#9528)
-
0.39.0
-
update changelog
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
-
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
std_msgs | |
ament_lint_auto | |
ament_lint_common | |
autoware_perception_msgs | |
autoware_vehicle_msgs | |
geometry_msgs | |
rclpy | |
sensor_msgs | |
sensor_msgs_py | |
tf2 | |
tf2_ros | |
tier4_vehicle_msgs |
System Dependencies
Dependant Packages
Launch files
- launch/autoware_carla_interface.launch.xml
-
- host [default: localhost]
- port [default: 2000]
- timeout [default: 20]
- ego_vehicle_role_name [default: ego_vehicle]
- vehicle_type [default: vehicle.toyota.prius]
- spawn_point [default: None]
- carla_map [default: Town01]
- sync_mode [default: True]
- fixed_delta_seconds [default: 0.05]
- objects_definition_file [default: $(find-pkg-share autoware_carla_interface)/objects.json]
- use_traffic_manager [default: False]
- max_real_delta_seconds [default: 0.05]
- input_control_cmd [default: /control/command/control_cmd]
- input_odometry [default: /localization/kinematic_state]
- input_steering [default: /vehicle/status/steering_status]
- output_actuation_cmd [default: /control/command/actuation_cmd]
- config_file [default: $(find-pkg-share autoware_carla_interface)/raw_vehicle_cmd_converter.param.yaml]