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carla_localization 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_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

Localization bridge for CARLA - publishes TF from ground truth

Maintainers

WATonomous

Authors

No additional authors.

src/simulation/carla_ros_bridge/carla_localization/README.md

carla_localization

Ground truth localization from CARLA simulation.

Nodes

localization

Publishes the ego vehicle’s ground truth pose as TF transforms. The transform chain is map -> odom -> base_link, where the map -> odom transform is identity (no drift in simulation) and odom -> base_link contains the vehicle’s actual pose from CARLA.

Coordinates are converted from CARLA’s left-handed system (X-forward, Y-right, Z-up) to ROS’s right-handed system (X-forward, Y-left, Z-up).

ros2 run carla_localization localization

Publications: /tf (tf2_msgs/TFMessage)

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 track
`map_frame`	string	`map`	Name of the map frame
`odom_frame`	string	`odom`	Name of the odom frame
`base_frame`	string	`base_link`	Name of the base_link frame
`publish_rate`	double	`50.0`	TF publish rate in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	python3-carla
	rclpy
	tf2_ros
	geometry_msgs
	lifecycle_msgs
	carla_common

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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