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carla_bringup package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch files and configuration for CARLA ROS2 bridge

Maintainers

  • WATonomous

Authors

No additional authors.
src/simulation/carla_ros_bridge/carla_bringup/README.md

carla_bringup

Launch files and configuration for the CARLA ROS 2 bridge.

This package is the main entry point for launching the complete CARLA bridge stack. The launch file starts all nodes in the correct order: first the scenario_server and lifecycle_manager, then the robot description, and finally all sensor and control nodes as managed lifecycle nodes.

All node parameters are centralized in config/carla_bridge.yaml, making it easy to configure the entire system from one file. Individual packages can still be run standalone for development using ros2 run.

Usage

ros2 launch carla_bringup carla_bridge.launch.yaml

Launch arguments: ros2 launch carla_bringup carla_bridge.launch.yaml --show-args

Files

  • config/carla_bridge.yaml - Centralized configuration for all nodes
  • config/qos_overrides.yaml - Example QoS settings for publishers/subscribers
  • launch/carla_bridge.launch.yaml - Main launch file
  • launch/carla_bridge_qos.launch.yaml - Example launch with QoS overrides

QoS Configuration

ROS 2 supports QoS overrides via YAML files. To customize QoS settings for sensor topics:

# Use the example launch file with QoS overrides
ros2 launch carla_bringup carla_bridge_qos.launch.yaml

Edit config/qos_overrides.yaml to adjust reliability, durability, and history settings. This is useful for tuning performance (best_effort for high-frequency sensors) or ensuring delivery (reliable for control commands).

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_bringup at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Package symbol

carla_bringup package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch files and configuration for CARLA ROS2 bridge

Maintainers

  • WATonomous

Authors

No additional authors.
src/simulation/carla_ros_bridge/carla_bringup/README.md

carla_bringup

Launch files and configuration for the CARLA ROS 2 bridge.

This package is the main entry point for launching the complete CARLA bridge stack. The launch file starts all nodes in the correct order: first the scenario_server and lifecycle_manager, then the robot description, and finally all sensor and control nodes as managed lifecycle nodes.

All node parameters are centralized in config/carla_bridge.yaml, making it easy to configure the entire system from one file. Individual packages can still be run standalone for development using ros2 run.

Usage

ros2 launch carla_bringup carla_bridge.launch.yaml

Launch arguments: ros2 launch carla_bringup carla_bridge.launch.yaml --show-args

Files

  • config/carla_bridge.yaml - Centralized configuration for all nodes
  • config/qos_overrides.yaml - Example QoS settings for publishers/subscribers
  • launch/carla_bridge.launch.yaml - Main launch file
  • launch/carla_bridge_qos.launch.yaml - Example launch with QoS overrides

QoS Configuration

ROS 2 supports QoS overrides via YAML files. To customize QoS settings for sensor topics:

# Use the example launch file with QoS overrides
ros2 launch carla_bringup carla_bridge_qos.launch.yaml

Edit config/qos_overrides.yaml to adjust reliability, durability, and history settings. This is useful for tuning performance (best_effort for high-frequency sensors) or ensuring delivery (reliable for control commands).

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_bringup at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

carla_bringup package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch files and configuration for CARLA ROS2 bridge

Maintainers

  • WATonomous

Authors

No additional authors.
src/simulation/carla_ros_bridge/carla_bringup/README.md

carla_bringup

Launch files and configuration for the CARLA ROS 2 bridge.

This package is the main entry point for launching the complete CARLA bridge stack. The launch file starts all nodes in the correct order: first the scenario_server and lifecycle_manager, then the robot description, and finally all sensor and control nodes as managed lifecycle nodes.

All node parameters are centralized in config/carla_bridge.yaml, making it easy to configure the entire system from one file. Individual packages can still be run standalone for development using ros2 run.

Usage

ros2 launch carla_bringup carla_bridge.launch.yaml

Launch arguments: ros2 launch carla_bringup carla_bridge.launch.yaml --show-args

Files

  • config/carla_bridge.yaml - Centralized configuration for all nodes
  • config/qos_overrides.yaml - Example QoS settings for publishers/subscribers
  • launch/carla_bridge.launch.yaml - Main launch file
  • launch/carla_bridge_qos.launch.yaml - Example launch with QoS overrides

QoS Configuration

ROS 2 supports QoS overrides via YAML files. To customize QoS settings for sensor topics:

# Use the example launch file with QoS overrides
ros2 launch carla_bringup carla_bridge_qos.launch.yaml

Edit config/qos_overrides.yaml to adjust reliability, durability, and history settings. This is useful for tuning performance (best_effort for high-frequency sensors) or ensuring delivery (reliable for control commands).

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_bringup at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package symbol

carla_bringup package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch files and configuration for CARLA ROS2 bridge

Maintainers

  • WATonomous

Authors

No additional authors.
src/simulation/carla_ros_bridge/carla_bringup/README.md

carla_bringup

Launch files and configuration for the CARLA ROS 2 bridge.

This package is the main entry point for launching the complete CARLA bridge stack. The launch file starts all nodes in the correct order: first the scenario_server and lifecycle_manager, then the robot description, and finally all sensor and control nodes as managed lifecycle nodes.

All node parameters are centralized in config/carla_bridge.yaml, making it easy to configure the entire system from one file. Individual packages can still be run standalone for development using ros2 run.

Usage

ros2 launch carla_bringup carla_bridge.launch.yaml

Launch arguments: ros2 launch carla_bringup carla_bridge.launch.yaml --show-args

Files

  • config/carla_bridge.yaml - Centralized configuration for all nodes
  • config/qos_overrides.yaml - Example QoS settings for publishers/subscribers
  • launch/carla_bridge.launch.yaml - Main launch file
  • launch/carla_bridge_qos.launch.yaml - Example launch with QoS overrides

QoS Configuration

ROS 2 supports QoS overrides via YAML files. To customize QoS settings for sensor topics:

# Use the example launch file with QoS overrides
ros2 launch carla_bringup carla_bridge_qos.launch.yaml

Edit config/qos_overrides.yaml to adjust reliability, durability, and history settings. This is useful for tuning performance (best_effort for high-frequency sensors) or ensuring delivery (reliable for control commands).

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_bringup at Robotics Stack Exchange

Package symbol

carla_bringup package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch files and configuration for CARLA ROS2 bridge

Maintainers

  • WATonomous

Authors

No additional authors.
src/simulation/carla_ros_bridge/carla_bringup/README.md

carla_bringup

Launch files and configuration for the CARLA ROS 2 bridge.

This package is the main entry point for launching the complete CARLA bridge stack. The launch file starts all nodes in the correct order: first the scenario_server and lifecycle_manager, then the robot description, and finally all sensor and control nodes as managed lifecycle nodes.

All node parameters are centralized in config/carla_bridge.yaml, making it easy to configure the entire system from one file. Individual packages can still be run standalone for development using ros2 run.

Usage

ros2 launch carla_bringup carla_bridge.launch.yaml

Launch arguments: ros2 launch carla_bringup carla_bridge.launch.yaml --show-args

Files

  • config/carla_bridge.yaml - Centralized configuration for all nodes
  • config/qos_overrides.yaml - Example QoS settings for publishers/subscribers
  • launch/carla_bridge.launch.yaml - Main launch file
  • launch/carla_bridge_qos.launch.yaml - Example launch with QoS overrides

QoS Configuration

ROS 2 supports QoS overrides via YAML files. To customize QoS settings for sensor topics:

# Use the example launch file with QoS overrides
ros2 launch carla_bringup carla_bridge_qos.launch.yaml

Edit config/qos_overrides.yaml to adjust reliability, durability, and history settings. This is useful for tuning performance (best_effort for high-frequency sensors) or ensuring delivery (reliable for control commands).

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_bringup at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

carla_bringup package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch files and configuration for CARLA ROS2 bridge

Maintainers

  • WATonomous

Authors

No additional authors.
src/simulation/carla_ros_bridge/carla_bringup/README.md

carla_bringup

Launch files and configuration for the CARLA ROS 2 bridge.

This package is the main entry point for launching the complete CARLA bridge stack. The launch file starts all nodes in the correct order: first the scenario_server and lifecycle_manager, then the robot description, and finally all sensor and control nodes as managed lifecycle nodes.

All node parameters are centralized in config/carla_bridge.yaml, making it easy to configure the entire system from one file. Individual packages can still be run standalone for development using ros2 run.

Usage

ros2 launch carla_bringup carla_bridge.launch.yaml

Launch arguments: ros2 launch carla_bringup carla_bridge.launch.yaml --show-args

Files

  • config/carla_bridge.yaml - Centralized configuration for all nodes
  • config/qos_overrides.yaml - Example QoS settings for publishers/subscribers
  • launch/carla_bridge.launch.yaml - Main launch file
  • launch/carla_bridge_qos.launch.yaml - Example launch with QoS overrides

QoS Configuration

ROS 2 supports QoS overrides via YAML files. To customize QoS settings for sensor topics:

# Use the example launch file with QoS overrides
ros2 launch carla_bringup carla_bridge_qos.launch.yaml

Edit config/qos_overrides.yaml to adjust reliability, durability, and history settings. This is useful for tuning performance (best_effort for high-frequency sensors) or ensuring delivery (reliable for control commands).

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_bringup at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package symbol

carla_bringup package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 1.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch files and configuration for CARLA ROS2 bridge

Maintainers

  • WATonomous

Authors

No additional authors.
src/simulation/carla_ros_bridge/carla_bringup/README.md

carla_bringup

Launch files and configuration for the CARLA ROS 2 bridge.

This package is the main entry point for launching the complete CARLA bridge stack. The launch file starts all nodes in the correct order: first the scenario_server and lifecycle_manager, then the robot description, and finally all sensor and control nodes as managed lifecycle nodes.

All node parameters are centralized in config/carla_bridge.yaml, making it easy to configure the entire system from one file. Individual packages can still be run standalone for development using ros2 run.

Usage

ros2 launch carla_bringup carla_bridge.launch.yaml

Launch arguments: ros2 launch carla_bringup carla_bridge.launch.yaml --show-args

Files

  • config/carla_bridge.yaml - Centralized configuration for all nodes
  • config/qos_overrides.yaml - Example QoS settings for publishers/subscribers
  • launch/carla_bridge.launch.yaml - Main launch file
  • launch/carla_bridge_qos.launch.yaml - Example launch with QoS overrides

QoS Configuration

ROS 2 supports QoS overrides via YAML files. To customize QoS settings for sensor topics:

# Use the example launch file with QoS overrides
ros2 launch carla_bringup carla_bridge_qos.launch.yaml

Edit config/qos_overrides.yaml to adjust reliability, durability, and history settings. This is useful for tuning performance (best_effort for high-frequency sensors) or ensuring delivery (reliable for control commands).

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_bringup at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

carla_bringup package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 1.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch files and configuration for CARLA ROS2 bridge

Maintainers

  • WATonomous

Authors

No additional authors.
src/simulation/carla_ros_bridge/carla_bringup/README.md

carla_bringup

Launch files and configuration for the CARLA ROS 2 bridge.

This package is the main entry point for launching the complete CARLA bridge stack. The launch file starts all nodes in the correct order: first the scenario_server and lifecycle_manager, then the robot description, and finally all sensor and control nodes as managed lifecycle nodes.

All node parameters are centralized in config/carla_bridge.yaml, making it easy to configure the entire system from one file. Individual packages can still be run standalone for development using ros2 run.

Usage

ros2 launch carla_bringup carla_bridge.launch.yaml

Launch arguments: ros2 launch carla_bringup carla_bridge.launch.yaml --show-args

Files

  • config/carla_bridge.yaml - Centralized configuration for all nodes
  • config/qos_overrides.yaml - Example QoS settings for publishers/subscribers
  • launch/carla_bridge.launch.yaml - Main launch file
  • launch/carla_bridge_qos.launch.yaml - Example launch with QoS overrides

QoS Configuration

ROS 2 supports QoS overrides via YAML files. To customize QoS settings for sensor topics:

# Use the example launch file with QoS overrides
ros2 launch carla_bringup carla_bridge_qos.launch.yaml

Edit config/qos_overrides.yaml to adjust reliability, durability, and history settings. This is useful for tuning performance (best_effort for high-frequency sensors) or ensuring delivery (reliable for control commands).

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_bringup at Robotics Stack Exchange

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

carla_bringup package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

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Package Summary

Version 1.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Launch files and configuration for CARLA ROS2 bridge

Maintainers

  • WATonomous

Authors

No additional authors.
src/simulation/carla_ros_bridge/carla_bringup/README.md

carla_bringup

Launch files and configuration for the CARLA ROS 2 bridge.

This package is the main entry point for launching the complete CARLA bridge stack. The launch file starts all nodes in the correct order: first the scenario_server and lifecycle_manager, then the robot description, and finally all sensor and control nodes as managed lifecycle nodes.

All node parameters are centralized in config/carla_bridge.yaml, making it easy to configure the entire system from one file. Individual packages can still be run standalone for development using ros2 run.

Usage

ros2 launch carla_bringup carla_bridge.launch.yaml

Launch arguments: ros2 launch carla_bringup carla_bridge.launch.yaml --show-args

Files

  • config/carla_bridge.yaml - Centralized configuration for all nodes
  • config/qos_overrides.yaml - Example QoS settings for publishers/subscribers
  • launch/carla_bridge.launch.yaml - Main launch file
  • launch/carla_bridge_qos.launch.yaml - Example launch with QoS overrides

QoS Configuration

ROS 2 supports QoS overrides via YAML files. To customize QoS settings for sensor topics:

# Use the example launch file with QoS overrides
ros2 launch carla_bringup carla_bridge_qos.launch.yaml

Edit config/qos_overrides.yaml to adjust reliability, durability, and history settings. This is useful for tuning performance (best_effort for high-frequency sensors) or ensuring delivery (reliable for control commands).

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Launch files

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