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

carla_pygame 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_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

Web-based pygame HUD visualizer for CARLA

Maintainers

WATonomous

Authors

No additional authors.

src/simulation/carla_ros_bridge/carla_pygame/README.md

carla_pygame

Web-based map visualization for CARLA simulation.

Nodes

pygame_hud

Renders a bird’s-eye view of the CARLA map showing roads, lane markings, and actor positions. The visualization is streamed to a web browser via WebSocket, allowing remote monitoring without requiring a display on the simulation host.

The view is centered on the ego vehicle and supports pan/zoom via mouse interaction in the browser. Optionally shows spawn points, trigger volumes, and lane connections for debugging.

Access the visualization at http://localhost:<web_port> (default port 5000).

ros2 run carla_pygame pygame_hud

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
`web_port`	int	`5000`	Web server port for map visualization
`width`	int	`1280`	Render width in pixels
`height`	int	`720`	Render height in pixels
`role_name`	string	`ego_vehicle`	Role name of the ego vehicle to track
`show_triggers`	bool	`false`	Show trigger volumes on map
`show_connections`	bool	`false`	Show lane connections on map
`show_spawn_points`	bool	`false`	Show spawn points on map
`frame_rate`	double	`30.0`	Frame rate for web streaming in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	python3-carla
	rclpy
	lifecycle_msgs

System Dependencies

Name
python3-pygame
python3-flask
python3-pil
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.

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

API Docs Browse Code

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

carla_pygame 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_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

Web-based pygame HUD visualizer for CARLA

Maintainers

WATonomous

Authors

No additional authors.

src/simulation/carla_ros_bridge/carla_pygame/README.md

carla_pygame

Web-based map visualization for CARLA simulation.

Nodes

pygame_hud

Renders a bird’s-eye view of the CARLA map showing roads, lane markings, and actor positions. The visualization is streamed to a web browser via WebSocket, allowing remote monitoring without requiring a display on the simulation host.

The view is centered on the ego vehicle and supports pan/zoom via mouse interaction in the browser. Optionally shows spawn points, trigger volumes, and lane connections for debugging.

Access the visualization at http://localhost:<web_port> (default port 5000).

ros2 run carla_pygame pygame_hud

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
`web_port`	int	`5000`	Web server port for map visualization
`width`	int	`1280`	Render width in pixels
`height`	int	`720`	Render height in pixels
`role_name`	string	`ego_vehicle`	Role name of the ego vehicle to track
`show_triggers`	bool	`false`	Show trigger volumes on map
`show_connections`	bool	`false`	Show lane connections on map
`show_spawn_points`	bool	`false`	Show spawn points on map
`frame_rate`	double	`30.0`	Frame rate for web streaming in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	python3-carla
	rclpy
	lifecycle_msgs

System Dependencies

Name
python3-pygame
python3-flask
python3-pil
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.

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

API Docs Browse Code

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

carla_pygame 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_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

Web-based pygame HUD visualizer for CARLA

Maintainers

WATonomous

Authors

No additional authors.

src/simulation/carla_ros_bridge/carla_pygame/README.md

carla_pygame

Web-based map visualization for CARLA simulation.

Nodes

pygame_hud

Renders a bird’s-eye view of the CARLA map showing roads, lane markings, and actor positions. The visualization is streamed to a web browser via WebSocket, allowing remote monitoring without requiring a display on the simulation host.

The view is centered on the ego vehicle and supports pan/zoom via mouse interaction in the browser. Optionally shows spawn points, trigger volumes, and lane connections for debugging.

Access the visualization at http://localhost:<web_port> (default port 5000).

ros2 run carla_pygame pygame_hud

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
`web_port`	int	`5000`	Web server port for map visualization
`width`	int	`1280`	Render width in pixels
`height`	int	`720`	Render height in pixels
`role_name`	string	`ego_vehicle`	Role name of the ego vehicle to track
`show_triggers`	bool	`false`	Show trigger volumes on map
`show_connections`	bool	`false`	Show lane connections on map
`show_spawn_points`	bool	`false`	Show spawn points on map
`frame_rate`	double	`30.0`	Frame rate for web streaming in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	python3-carla
	rclpy
	lifecycle_msgs

System Dependencies

Name
python3-pygame
python3-flask
python3-pil
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.

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

API Docs Browse Code

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

carla_pygame 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_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

Web-based pygame HUD visualizer for CARLA

Maintainers

WATonomous

Authors

No additional authors.

src/simulation/carla_ros_bridge/carla_pygame/README.md

carla_pygame

Web-based map visualization for CARLA simulation.

Nodes

pygame_hud

Renders a bird’s-eye view of the CARLA map showing roads, lane markings, and actor positions. The visualization is streamed to a web browser via WebSocket, allowing remote monitoring without requiring a display on the simulation host.

The view is centered on the ego vehicle and supports pan/zoom via mouse interaction in the browser. Optionally shows spawn points, trigger volumes, and lane connections for debugging.

Access the visualization at http://localhost:<web_port> (default port 5000).

ros2 run carla_pygame pygame_hud

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
`web_port`	int	`5000`	Web server port for map visualization
`width`	int	`1280`	Render width in pixels
`height`	int	`720`	Render height in pixels
`role_name`	string	`ego_vehicle`	Role name of the ego vehicle to track
`show_triggers`	bool	`false`	Show trigger volumes on map
`show_connections`	bool	`false`	Show lane connections on map
`show_spawn_points`	bool	`false`	Show spawn points on map
`frame_rate`	double	`30.0`	Frame rate for web streaming in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	python3-carla
	rclpy
	lifecycle_msgs

System Dependencies

Name
python3-pygame
python3-flask
python3-pil
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.

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

API Docs Browse Code

carla_pygame 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_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

Web-based pygame HUD visualizer for CARLA

Maintainers

WATonomous

Authors

No additional authors.

src/simulation/carla_ros_bridge/carla_pygame/README.md

carla_pygame

Web-based map visualization for CARLA simulation.

Nodes

pygame_hud

Renders a bird’s-eye view of the CARLA map showing roads, lane markings, and actor positions. The visualization is streamed to a web browser via WebSocket, allowing remote monitoring without requiring a display on the simulation host.

The view is centered on the ego vehicle and supports pan/zoom via mouse interaction in the browser. Optionally shows spawn points, trigger volumes, and lane connections for debugging.

Access the visualization at http://localhost:<web_port> (default port 5000).

ros2 run carla_pygame pygame_hud

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
`web_port`	int	`5000`	Web server port for map visualization
`width`	int	`1280`	Render width in pixels
`height`	int	`720`	Render height in pixels
`role_name`	string	`ego_vehicle`	Role name of the ego vehicle to track
`show_triggers`	bool	`false`	Show trigger volumes on map
`show_connections`	bool	`false`	Show lane connections on map
`show_spawn_points`	bool	`false`	Show spawn points on map
`frame_rate`	double	`30.0`	Frame rate for web streaming in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	python3-carla
	rclpy
	lifecycle_msgs

System Dependencies

Name
python3-pygame
python3-flask
python3-pil
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.

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

API Docs Browse Code

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

carla_pygame 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_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

Web-based pygame HUD visualizer for CARLA

Maintainers

WATonomous

Authors

No additional authors.

src/simulation/carla_ros_bridge/carla_pygame/README.md

carla_pygame

Web-based map visualization for CARLA simulation.

Nodes

pygame_hud

Renders a bird’s-eye view of the CARLA map showing roads, lane markings, and actor positions. The visualization is streamed to a web browser via WebSocket, allowing remote monitoring without requiring a display on the simulation host.

The view is centered on the ego vehicle and supports pan/zoom via mouse interaction in the browser. Optionally shows spawn points, trigger volumes, and lane connections for debugging.

Access the visualization at http://localhost:<web_port> (default port 5000).

ros2 run carla_pygame pygame_hud

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
`web_port`	int	`5000`	Web server port for map visualization
`width`	int	`1280`	Render width in pixels
`height`	int	`720`	Render height in pixels
`role_name`	string	`ego_vehicle`	Role name of the ego vehicle to track
`show_triggers`	bool	`false`	Show trigger volumes on map
`show_connections`	bool	`false`	Show lane connections on map
`show_spawn_points`	bool	`false`	Show spawn points on map
`frame_rate`	double	`30.0`	Frame rate for web streaming in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	python3-carla
	rclpy
	lifecycle_msgs

System Dependencies

Name
python3-pygame
python3-flask
python3-pil
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.

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

API Docs Browse Code

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

carla_pygame 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_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

Web-based pygame HUD visualizer for CARLA

Maintainers

WATonomous

Authors

No additional authors.

src/simulation/carla_ros_bridge/carla_pygame/README.md

carla_pygame

Web-based map visualization for CARLA simulation.

Nodes

pygame_hud

Renders a bird’s-eye view of the CARLA map showing roads, lane markings, and actor positions. The visualization is streamed to a web browser via WebSocket, allowing remote monitoring without requiring a display on the simulation host.

The view is centered on the ego vehicle and supports pan/zoom via mouse interaction in the browser. Optionally shows spawn points, trigger volumes, and lane connections for debugging.

Access the visualization at http://localhost:<web_port> (default port 5000).

ros2 run carla_pygame pygame_hud

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
`web_port`	int	`5000`	Web server port for map visualization
`width`	int	`1280`	Render width in pixels
`height`	int	`720`	Render height in pixels
`role_name`	string	`ego_vehicle`	Role name of the ego vehicle to track
`show_triggers`	bool	`false`	Show trigger volumes on map
`show_connections`	bool	`false`	Show lane connections on map
`show_spawn_points`	bool	`false`	Show spawn points on map
`frame_rate`	double	`30.0`	Frame rate for web streaming in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	python3-carla
	rclpy
	lifecycle_msgs

System Dependencies

Name
python3-pygame
python3-flask
python3-pil
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.

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

API Docs Browse Code

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

carla_pygame 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_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

Web-based pygame HUD visualizer for CARLA

Maintainers

WATonomous

Authors

No additional authors.

src/simulation/carla_ros_bridge/carla_pygame/README.md

carla_pygame

Web-based map visualization for CARLA simulation.

Nodes

pygame_hud

Renders a bird’s-eye view of the CARLA map showing roads, lane markings, and actor positions. The visualization is streamed to a web browser via WebSocket, allowing remote monitoring without requiring a display on the simulation host.

The view is centered on the ego vehicle and supports pan/zoom via mouse interaction in the browser. Optionally shows spawn points, trigger volumes, and lane connections for debugging.

Access the visualization at http://localhost:<web_port> (default port 5000).

ros2 run carla_pygame pygame_hud

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
`web_port`	int	`5000`	Web server port for map visualization
`width`	int	`1280`	Render width in pixels
`height`	int	`720`	Render height in pixels
`role_name`	string	`ego_vehicle`	Role name of the ego vehicle to track
`show_triggers`	bool	`false`	Show trigger volumes on map
`show_connections`	bool	`false`	Show lane connections on map
`show_spawn_points`	bool	`false`	Show spawn points on map
`frame_rate`	double	`30.0`	Frame rate for web streaming in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	python3-carla
	rclpy
	lifecycle_msgs

System Dependencies

Name
python3-pygame
python3-flask
python3-pil
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.

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

API Docs Browse Code Wiki

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

carla_pygame 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_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

Web-based pygame HUD visualizer for CARLA

Maintainers

WATonomous

Authors

No additional authors.

src/simulation/carla_ros_bridge/carla_pygame/README.md

carla_pygame

Web-based map visualization for CARLA simulation.

Nodes

pygame_hud

Renders a bird’s-eye view of the CARLA map showing roads, lane markings, and actor positions. The visualization is streamed to a web browser via WebSocket, allowing remote monitoring without requiring a display on the simulation host.

The view is centered on the ego vehicle and supports pan/zoom via mouse interaction in the browser. Optionally shows spawn points, trigger volumes, and lane connections for debugging.

Access the visualization at http://localhost:<web_port> (default port 5000).

ros2 run carla_pygame pygame_hud

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
`web_port`	int	`5000`	Web server port for map visualization
`width`	int	`1280`	Render width in pixels
`height`	int	`720`	Render height in pixels
`role_name`	string	`ego_vehicle`	Role name of the ego vehicle to track
`show_triggers`	bool	`false`	Show trigger volumes on map
`show_connections`	bool	`false`	Show lane connections on map
`show_spawn_points`	bool	`false`	Show spawn points on map
`frame_rate`	double	`30.0`	Frame rate for web streaming in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	python3-carla
	rclpy
	lifecycle_msgs

System Dependencies

Name
python3-pygame
python3-flask
python3-pil
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.

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

API Docs Browse Code Wiki

carla_pygame package from wato_monorepo repo

ROS Distrogithub

Package Summary

Repository Summary

Package Description

Maintainers

Authors

carla_pygame

Nodes

pygame_hud

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged carla_pygame at Robotics Stack Exchange

carla_pygame package from wato_monorepo repo

ROS Distrogithub

Package Summary

Repository Summary

Package Description

Maintainers

Authors

carla_pygame

Nodes

pygame_hud

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged carla_pygame at Robotics Stack Exchange

carla_pygame package from wato_monorepo repo

ROS Distrogithub

Package Summary

Repository Summary

Package Description

Maintainers

Authors

carla_pygame

Nodes

pygame_hud

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged carla_pygame at Robotics Stack Exchange

carla_pygame package from wato_monorepo repo

ROS Distrogithub

Package Summary

Repository Summary

Package Description

Maintainers

Authors

carla_pygame

Nodes

pygame_hud

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged carla_pygame at Robotics Stack Exchange

carla_pygame package from wato_monorepo repo

ROS Distrogithub

Package Summary

Repository Summary

Package Description

Maintainers

Authors

carla_pygame

ROS Distro
github

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

ROS Distro
github

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

ROS Distro
github

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

ROS Distro
github

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

ROS Distro
github

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

ROS Distro
github

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

ROS Distro
github

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

ROS Distro
github

Recent questions tagged `carla_pygame` at Robotics Stack Exchange

ROS Distro
github