ROS Index
Package Summary
| Version | 1.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| 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
Maintainers
- WATonomous
Authors
carla_control
Vehicle control nodes for CARLA simulation.
Nodes
ackermann_control
Receives AckermannDriveStamped commands and applies them to the ego vehicle in CARLA using CARLA’s native Ackermann control API. The node finds the ego vehicle by its role_name attribute and applies speed, acceleration, jerk, and steering commands directly.
If no command is received within the command_timeout, the vehicle automatically brakes to a stop. This prevents runaway vehicles when the control source disconnects.
ros2 run carla_control ackermann_control
Subscriptions: command (ackermann_msgs/AckermannDriveStamped)
Parameters:
| Parameter | Type | Default | Description |
|---|---|---|---|
carla_host |
string | localhost |
CARLA server hostname |
carla_port |
int | 2000 |
CARLA server port |
carla_timeout |
double | 10.0 |
Connection timeout in seconds |
role_name |
string | ego_vehicle |
Role name of the ego vehicle to control |
command_timeout |
double | 0.5 |
Stop vehicle if no command received within this time (seconds) |
control_rate |
double | 50.0 |
Control loop frequency in Hz |
Package Dependencies
| Deps | Name |
|---|---|
| ament_python | |
| python3-carla | |
| rclpy | |
| carla_msgs | |
| ackermann_msgs | |
| lifecycle_msgs |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
| Name | Deps |
|---|---|
| carla_bringup | |
| carla_ros_bridge |
Launch files
Messages
Services
Plugins
Recent questions tagged carla_control at Robotics Stack Exchange
Package Summary
| Version | 1.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| 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
Maintainers
- WATonomous
Authors
carla_control
Vehicle control nodes for CARLA simulation.
Nodes
ackermann_control
Receives AckermannDriveStamped commands and applies them to the ego vehicle in CARLA using CARLA’s native Ackermann control API. The node finds the ego vehicle by its role_name attribute and applies speed, acceleration, jerk, and steering commands directly.
If no command is received within the command_timeout, the vehicle automatically brakes to a stop. This prevents runaway vehicles when the control source disconnects.
ros2 run carla_control ackermann_control
Subscriptions: command (ackermann_msgs/AckermannDriveStamped)
Parameters:
| Parameter | Type | Default | Description |
|---|---|---|---|
carla_host |
string | localhost |
CARLA server hostname |
carla_port |
int | 2000 |
CARLA server port |
carla_timeout |
double | 10.0 |
Connection timeout in seconds |
role_name |
string | ego_vehicle |
Role name of the ego vehicle to control |
command_timeout |
double | 0.5 |
Stop vehicle if no command received within this time (seconds) |
control_rate |
double | 50.0 |
Control loop frequency in Hz |
Package Dependencies
| Deps | Name |
|---|---|
| ament_python | |
| python3-carla | |
| rclpy | |
| carla_msgs | |
| ackermann_msgs | |
| lifecycle_msgs |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
| Name | Deps |
|---|---|
| carla_bringup | |
| carla_ros_bridge |
Launch files
Messages
Services
Plugins
Recent questions tagged carla_control at Robotics Stack Exchange
Package Summary
| Version | 1.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| 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
Maintainers
- WATonomous
Authors
carla_control
Vehicle control nodes for CARLA simulation.
Nodes
ackermann_control
Receives AckermannDriveStamped commands and applies them to the ego vehicle in CARLA using CARLA’s native Ackermann control API. The node finds the ego vehicle by its role_name attribute and applies speed, acceleration, jerk, and steering commands directly.
If no command is received within the command_timeout, the vehicle automatically brakes to a stop. This prevents runaway vehicles when the control source disconnects.
ros2 run carla_control ackermann_control
Subscriptions: command (ackermann_msgs/AckermannDriveStamped)
Parameters:
| Parameter | Type | Default | Description |
|---|---|---|---|
carla_host |
string | localhost |
CARLA server hostname |
carla_port |
int | 2000 |
CARLA server port |
carla_timeout |
double | 10.0 |
Connection timeout in seconds |
role_name |
string | ego_vehicle |
Role name of the ego vehicle to control |
command_timeout |
double | 0.5 |
Stop vehicle if no command received within this time (seconds) |
control_rate |
double | 50.0 |
Control loop frequency in Hz |
Package Dependencies
| Deps | Name |
|---|---|
| ament_python | |
| python3-carla | |
| rclpy | |
| carla_msgs | |
| ackermann_msgs | |
| lifecycle_msgs |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
| Name | Deps |
|---|---|
| carla_bringup | |
| carla_ros_bridge |
Launch files
Messages
Services
Plugins
Recent questions tagged carla_control at Robotics Stack Exchange
Package Summary
| Version | 1.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| 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
Maintainers
- WATonomous
Authors
carla_control
Vehicle control nodes for CARLA simulation.
Nodes
ackermann_control
Receives AckermannDriveStamped commands and applies them to the ego vehicle in CARLA using CARLA’s native Ackermann control API. The node finds the ego vehicle by its role_name attribute and applies speed, acceleration, jerk, and steering commands directly.
If no command is received within the command_timeout, the vehicle automatically brakes to a stop. This prevents runaway vehicles when the control source disconnects.
ros2 run carla_control ackermann_control
Subscriptions: command (ackermann_msgs/AckermannDriveStamped)
Parameters:
| Parameter | Type | Default | Description |
|---|---|---|---|
carla_host |
string | localhost |
CARLA server hostname |
carla_port |
int | 2000 |
CARLA server port |
carla_timeout |
double | 10.0 |
Connection timeout in seconds |
role_name |
string | ego_vehicle |
Role name of the ego vehicle to control |
command_timeout |
double | 0.5 |
Stop vehicle if no command received within this time (seconds) |
control_rate |
double | 50.0 |
Control loop frequency in Hz |
Package Dependencies
| Deps | Name |
|---|---|
| ament_python | |
| python3-carla | |
| rclpy | |
| carla_msgs | |
| ackermann_msgs | |
| lifecycle_msgs |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
| Name | Deps |
|---|---|
| carla_bringup | |
| carla_ros_bridge |
Launch files
Messages
Services
Plugins
Recent questions tagged carla_control at Robotics Stack Exchange
Package Summary
| Version | 1.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| 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
Maintainers
- WATonomous
Authors
carla_control
Vehicle control nodes for CARLA simulation.
Nodes
ackermann_control
Receives AckermannDriveStamped commands and applies them to the ego vehicle in CARLA using CARLA’s native Ackermann control API. The node finds the ego vehicle by its role_name attribute and applies speed, acceleration, jerk, and steering commands directly.
If no command is received within the command_timeout, the vehicle automatically brakes to a stop. This prevents runaway vehicles when the control source disconnects.
ros2 run carla_control ackermann_control
Subscriptions: command (ackermann_msgs/AckermannDriveStamped)
Parameters:
| Parameter | Type | Default | Description |
|---|---|---|---|
carla_host |
string | localhost |
CARLA server hostname |
carla_port |
int | 2000 |
CARLA server port |
carla_timeout |
double | 10.0 |
Connection timeout in seconds |
role_name |
string | ego_vehicle |
Role name of the ego vehicle to control |
command_timeout |
double | 0.5 |
Stop vehicle if no command received within this time (seconds) |
control_rate |
double | 50.0 |
Control loop frequency in Hz |
Package Dependencies
| Deps | Name |
|---|---|
| ament_python | |
| python3-carla | |
| rclpy | |
| carla_msgs | |
| ackermann_msgs | |
| lifecycle_msgs |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
| Name | Deps |
|---|---|
| carla_bringup | |
| carla_ros_bridge |
Launch files
Messages
Services
Plugins
Recent questions tagged carla_control at Robotics Stack Exchange
Package Summary
| Version | 1.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| 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
Maintainers
- WATonomous
Authors
carla_control
Vehicle control nodes for CARLA simulation.
Nodes
ackermann_control
Receives AckermannDriveStamped commands and applies them to the ego vehicle in CARLA using CARLA’s native Ackermann control API. The node finds the ego vehicle by its role_name attribute and applies speed, acceleration, jerk, and steering commands directly.
If no command is received within the command_timeout, the vehicle automatically brakes to a stop. This prevents runaway vehicles when the control source disconnects.
ros2 run carla_control ackermann_control
Subscriptions: command (ackermann_msgs/AckermannDriveStamped)
Parameters:
| Parameter | Type | Default | Description |
|---|---|---|---|
carla_host |
string | localhost |
CARLA server hostname |
carla_port |
int | 2000 |
CARLA server port |
carla_timeout |
double | 10.0 |
Connection timeout in seconds |
role_name |
string | ego_vehicle |
Role name of the ego vehicle to control |
command_timeout |
double | 0.5 |
Stop vehicle if no command received within this time (seconds) |
control_rate |
double | 50.0 |
Control loop frequency in Hz |
Package Dependencies
| Deps | Name |
|---|---|
| ament_python | |
| python3-carla | |
| rclpy | |
| carla_msgs | |
| ackermann_msgs | |
| lifecycle_msgs |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
| Name | Deps |
|---|---|
| carla_bringup | |
| carla_ros_bridge |
Launch files
Messages
Services
Plugins
Recent questions tagged carla_control at Robotics Stack Exchange
Package Summary
| Version | 1.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| 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
Maintainers
- WATonomous
Authors
carla_control
Vehicle control nodes for CARLA simulation.
Nodes
ackermann_control
Receives AckermannDriveStamped commands and applies them to the ego vehicle in CARLA using CARLA’s native Ackermann control API. The node finds the ego vehicle by its role_name attribute and applies speed, acceleration, jerk, and steering commands directly.
If no command is received within the command_timeout, the vehicle automatically brakes to a stop. This prevents runaway vehicles when the control source disconnects.
ros2 run carla_control ackermann_control
Subscriptions: command (ackermann_msgs/AckermannDriveStamped)
Parameters:
| Parameter | Type | Default | Description |
|---|---|---|---|
carla_host |
string | localhost |
CARLA server hostname |
carla_port |
int | 2000 |
CARLA server port |
carla_timeout |
double | 10.0 |
Connection timeout in seconds |
role_name |
string | ego_vehicle |
Role name of the ego vehicle to control |
command_timeout |
double | 0.5 |
Stop vehicle if no command received within this time (seconds) |
control_rate |
double | 50.0 |
Control loop frequency in Hz |
Package Dependencies
| Deps | Name |
|---|---|
| ament_python | |
| python3-carla | |
| rclpy | |
| carla_msgs | |
| ackermann_msgs | |
| lifecycle_msgs |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
| Name | Deps |
|---|---|
| carla_bringup | |
| carla_ros_bridge |
Launch files
Messages
Services
Plugins
Recent questions tagged carla_control at Robotics Stack Exchange
Package Summary
| Version | 1.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| 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
Maintainers
- WATonomous
Authors
carla_control
Vehicle control nodes for CARLA simulation.
Nodes
ackermann_control
Receives AckermannDriveStamped commands and applies them to the ego vehicle in CARLA using CARLA’s native Ackermann control API. The node finds the ego vehicle by its role_name attribute and applies speed, acceleration, jerk, and steering commands directly.
If no command is received within the command_timeout, the vehicle automatically brakes to a stop. This prevents runaway vehicles when the control source disconnects.
ros2 run carla_control ackermann_control
Subscriptions: command (ackermann_msgs/AckermannDriveStamped)
Parameters:
| Parameter | Type | Default | Description |
|---|---|---|---|
carla_host |
string | localhost |
CARLA server hostname |
carla_port |
int | 2000 |
CARLA server port |
carla_timeout |
double | 10.0 |
Connection timeout in seconds |
role_name |
string | ego_vehicle |
Role name of the ego vehicle to control |
command_timeout |
double | 0.5 |
Stop vehicle if no command received within this time (seconds) |
control_rate |
double | 50.0 |
Control loop frequency in Hz |
Package Dependencies
| Deps | Name |
|---|---|
| ament_python | |
| python3-carla | |
| rclpy | |
| carla_msgs | |
| ackermann_msgs | |
| lifecycle_msgs |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
| Name | Deps |
|---|---|
| carla_bringup | |
| carla_ros_bridge |
Launch files
Messages
Services
Plugins
Recent questions tagged carla_control at Robotics Stack Exchange
Package Summary
| Version | 1.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| 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
Maintainers
- WATonomous
Authors
carla_control
Vehicle control nodes for CARLA simulation.
Nodes
ackermann_control
Receives AckermannDriveStamped commands and applies them to the ego vehicle in CARLA using CARLA’s native Ackermann control API. The node finds the ego vehicle by its role_name attribute and applies speed, acceleration, jerk, and steering commands directly.
If no command is received within the command_timeout, the vehicle automatically brakes to a stop. This prevents runaway vehicles when the control source disconnects.
ros2 run carla_control ackermann_control
Subscriptions: command (ackermann_msgs/AckermannDriveStamped)
Parameters:
| Parameter | Type | Default | Description |
|---|---|---|---|
carla_host |
string | localhost |
CARLA server hostname |
carla_port |
int | 2000 |
CARLA server port |
carla_timeout |
double | 10.0 |
Connection timeout in seconds |
role_name |
string | ego_vehicle |
Role name of the ego vehicle to control |
command_timeout |
double | 0.5 |
Stop vehicle if no command received within this time (seconds) |
control_rate |
double | 50.0 |
Control loop frequency in Hz |
Package Dependencies
| Deps | Name |
|---|---|
| ament_python | |
| python3-carla | |
| rclpy | |
| carla_msgs | |
| ackermann_msgs | |
| lifecycle_msgs |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
| Name | Deps |
|---|---|
| carla_bringup | |
| carla_ros_bridge |