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carla_sample_description 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	MIT
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

Sample robot description for CARLA ego vehicle with sensor frames

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User

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src/simulation/carla_ros_bridge/carla_sample_description/README.md

carla_sample_description

Sample robot description (URDF) for CARLA vehicles.

This package provides a URDF that defines the TF frames for sensors on the ego vehicle. The robot_state_publisher reads this URDF and publishes static transforms between base_link and sensor frames (e.g., front_camera_optical, lidar).

Sensor publisher nodes (camera_publisher, lidar_publisher) look up these transforms at activation time to determine where to spawn sensors in CARLA. Frame names in the URDF must match the frame_id parameters configured for each sensor.

Usage

ros2 launch carla_sample_description robot_description.launch.yaml

Files

urdf/sample_vehicle.urdf.xacro - Main vehicle description with sensor mounts
urdf/sensors.xacro - Reusable sensor frame macros

Customization

Modify the URDF to match your vehicle’s sensor configuration. Add new sensor frames using the macros in sensors.xacro, ensuring frame names match those used in sensor publisher parameters.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	robot_state_publisher
	xacro
	joint_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
carla_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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