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carla_scenarios 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

Scenario plugin system and scenario server node

Maintainers

  • WATonomous

Authors

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

carla_scenarios

Scenario management for CARLA simulation.

The scenario_server is the central coordinator for the CARLA simulation. It connects to the CARLA server, configures simulation timing settings, and loads scenarios that define the world state - which map to use, where to spawn the ego vehicle, and what traffic to generate.

When a scenario is switched via the switch_scenario service, the server first notifies the lifecycle_manager to clean up all managed nodes, then unloads the current scenario (destroying all actors), and finally loads the new scenario. This triggers the lifecycle manager to bring nodes back up with the new world state.

The server also publishes /clock from CARLA’s simulation time.

Nodes

scenario_server

ros2 run carla_scenarios scenario_server

Publications: scenario_status (carla_msgs/ScenarioStatus), /clock (rosgraph_msgs/Clock)

Services: switch_scenario (carla_msgs/SwitchScenario), get_available_scenarios (carla_msgs/GetAvailableScenarios)

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
initial_scenario string carla_scenarios.scenarios.default_scenario Scenario module path to load on startup
carla_fps double 60.0 Simulation FPS (sets fixed_delta_seconds)
synchronous_mode bool false Server waits for client tick (requires world.tick() calls)
no_rendering_mode bool false Disable rendering for faster simulation
substepping bool true Enable physics substepping
max_substep_delta_time double 0.01 Max physics substep time in seconds
max_substeps int 10 Max physics substeps per frame
lifecycle_manager_name string carla_lifecycle_manager Name of the lifecycle manager node

See CARLA synchrony and time-step docs for details on timing parameters.

Built-in Scenarios

  • carla_scenarios.scenarios.empty_scenario - Ego vehicle only, no NPCs
  • carla_scenarios.scenarios.default_scenario - Ego + 20 vehicles + 40 pedestrians
  • carla_scenarios.scenarios.light_traffic_scenario - Ego + 5 vehicles + 10 pedestrians
  • carla_scenarios.scenarios.heavy_traffic_scenario - Ego + 50 vehicles + 100 pedestrians
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_python
python3-carla
rclpy
carla_msgs
lifecycle_msgs

System Dependencies

Name
python3-pytest

Dependant Packages

Name Deps
carla_bringup
carla_ros_bridge

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_scenarios at Robotics Stack Exchange

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

carla_scenarios 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

Scenario plugin system and scenario server node

Maintainers

  • WATonomous

Authors

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

carla_scenarios

Scenario management for CARLA simulation.

The scenario_server is the central coordinator for the CARLA simulation. It connects to the CARLA server, configures simulation timing settings, and loads scenarios that define the world state - which map to use, where to spawn the ego vehicle, and what traffic to generate.

When a scenario is switched via the switch_scenario service, the server first notifies the lifecycle_manager to clean up all managed nodes, then unloads the current scenario (destroying all actors), and finally loads the new scenario. This triggers the lifecycle manager to bring nodes back up with the new world state.

The server also publishes /clock from CARLA’s simulation time.

Nodes

scenario_server

ros2 run carla_scenarios scenario_server

Publications: scenario_status (carla_msgs/ScenarioStatus), /clock (rosgraph_msgs/Clock)

Services: switch_scenario (carla_msgs/SwitchScenario), get_available_scenarios (carla_msgs/GetAvailableScenarios)

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
initial_scenario string carla_scenarios.scenarios.default_scenario Scenario module path to load on startup
carla_fps double 60.0 Simulation FPS (sets fixed_delta_seconds)
synchronous_mode bool false Server waits for client tick (requires world.tick() calls)
no_rendering_mode bool false Disable rendering for faster simulation
substepping bool true Enable physics substepping
max_substep_delta_time double 0.01 Max physics substep time in seconds
max_substeps int 10 Max physics substeps per frame
lifecycle_manager_name string carla_lifecycle_manager Name of the lifecycle manager node

See CARLA synchrony and time-step docs for details on timing parameters.

Built-in Scenarios

  • carla_scenarios.scenarios.empty_scenario - Ego vehicle only, no NPCs
  • carla_scenarios.scenarios.default_scenario - Ego + 20 vehicles + 40 pedestrians
  • carla_scenarios.scenarios.light_traffic_scenario - Ego + 5 vehicles + 10 pedestrians
  • carla_scenarios.scenarios.heavy_traffic_scenario - Ego + 50 vehicles + 100 pedestrians
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_python
python3-carla
rclpy
carla_msgs
lifecycle_msgs

System Dependencies

Name
python3-pytest

Dependant Packages

Name Deps
carla_bringup
carla_ros_bridge

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_scenarios at Robotics Stack Exchange

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

carla_scenarios 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

Scenario plugin system and scenario server node

Maintainers

  • WATonomous

Authors

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

carla_scenarios

Scenario management for CARLA simulation.

The scenario_server is the central coordinator for the CARLA simulation. It connects to the CARLA server, configures simulation timing settings, and loads scenarios that define the world state - which map to use, where to spawn the ego vehicle, and what traffic to generate.

When a scenario is switched via the switch_scenario service, the server first notifies the lifecycle_manager to clean up all managed nodes, then unloads the current scenario (destroying all actors), and finally loads the new scenario. This triggers the lifecycle manager to bring nodes back up with the new world state.

The server also publishes /clock from CARLA’s simulation time.

Nodes

scenario_server

ros2 run carla_scenarios scenario_server

Publications: scenario_status (carla_msgs/ScenarioStatus), /clock (rosgraph_msgs/Clock)

Services: switch_scenario (carla_msgs/SwitchScenario), get_available_scenarios (carla_msgs/GetAvailableScenarios)

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
initial_scenario string carla_scenarios.scenarios.default_scenario Scenario module path to load on startup
carla_fps double 60.0 Simulation FPS (sets fixed_delta_seconds)
synchronous_mode bool false Server waits for client tick (requires world.tick() calls)
no_rendering_mode bool false Disable rendering for faster simulation
substepping bool true Enable physics substepping
max_substep_delta_time double 0.01 Max physics substep time in seconds
max_substeps int 10 Max physics substeps per frame
lifecycle_manager_name string carla_lifecycle_manager Name of the lifecycle manager node

See CARLA synchrony and time-step docs for details on timing parameters.

Built-in Scenarios

  • carla_scenarios.scenarios.empty_scenario - Ego vehicle only, no NPCs
  • carla_scenarios.scenarios.default_scenario - Ego + 20 vehicles + 40 pedestrians
  • carla_scenarios.scenarios.light_traffic_scenario - Ego + 5 vehicles + 10 pedestrians
  • carla_scenarios.scenarios.heavy_traffic_scenario - Ego + 50 vehicles + 100 pedestrians
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_python
python3-carla
rclpy
carla_msgs
lifecycle_msgs

System Dependencies

Name
python3-pytest

Dependant Packages

Name Deps
carla_bringup
carla_ros_bridge

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_scenarios at Robotics Stack Exchange

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

carla_scenarios 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

Scenario plugin system and scenario server node

Maintainers

  • WATonomous

Authors

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

carla_scenarios

Scenario management for CARLA simulation.

The scenario_server is the central coordinator for the CARLA simulation. It connects to the CARLA server, configures simulation timing settings, and loads scenarios that define the world state - which map to use, where to spawn the ego vehicle, and what traffic to generate.

When a scenario is switched via the switch_scenario service, the server first notifies the lifecycle_manager to clean up all managed nodes, then unloads the current scenario (destroying all actors), and finally loads the new scenario. This triggers the lifecycle manager to bring nodes back up with the new world state.

The server also publishes /clock from CARLA’s simulation time.

Nodes

scenario_server

ros2 run carla_scenarios scenario_server

Publications: scenario_status (carla_msgs/ScenarioStatus), /clock (rosgraph_msgs/Clock)

Services: switch_scenario (carla_msgs/SwitchScenario), get_available_scenarios (carla_msgs/GetAvailableScenarios)

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
initial_scenario string carla_scenarios.scenarios.default_scenario Scenario module path to load on startup
carla_fps double 60.0 Simulation FPS (sets fixed_delta_seconds)
synchronous_mode bool false Server waits for client tick (requires world.tick() calls)
no_rendering_mode bool false Disable rendering for faster simulation
substepping bool true Enable physics substepping
max_substep_delta_time double 0.01 Max physics substep time in seconds
max_substeps int 10 Max physics substeps per frame
lifecycle_manager_name string carla_lifecycle_manager Name of the lifecycle manager node

See CARLA synchrony and time-step docs for details on timing parameters.

Built-in Scenarios

  • carla_scenarios.scenarios.empty_scenario - Ego vehicle only, no NPCs
  • carla_scenarios.scenarios.default_scenario - Ego + 20 vehicles + 40 pedestrians
  • carla_scenarios.scenarios.light_traffic_scenario - Ego + 5 vehicles + 10 pedestrians
  • carla_scenarios.scenarios.heavy_traffic_scenario - Ego + 50 vehicles + 100 pedestrians
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_python
python3-carla
rclpy
carla_msgs
lifecycle_msgs

System Dependencies

Name
python3-pytest

Dependant Packages

Name Deps
carla_bringup
carla_ros_bridge

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_scenarios at Robotics Stack Exchange

Package symbol

carla_scenarios 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

Scenario plugin system and scenario server node

Maintainers

  • WATonomous

Authors

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

carla_scenarios

Scenario management for CARLA simulation.

The scenario_server is the central coordinator for the CARLA simulation. It connects to the CARLA server, configures simulation timing settings, and loads scenarios that define the world state - which map to use, where to spawn the ego vehicle, and what traffic to generate.

When a scenario is switched via the switch_scenario service, the server first notifies the lifecycle_manager to clean up all managed nodes, then unloads the current scenario (destroying all actors), and finally loads the new scenario. This triggers the lifecycle manager to bring nodes back up with the new world state.

The server also publishes /clock from CARLA’s simulation time.

Nodes

scenario_server

ros2 run carla_scenarios scenario_server

Publications: scenario_status (carla_msgs/ScenarioStatus), /clock (rosgraph_msgs/Clock)

Services: switch_scenario (carla_msgs/SwitchScenario), get_available_scenarios (carla_msgs/GetAvailableScenarios)

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
initial_scenario string carla_scenarios.scenarios.default_scenario Scenario module path to load on startup
carla_fps double 60.0 Simulation FPS (sets fixed_delta_seconds)
synchronous_mode bool false Server waits for client tick (requires world.tick() calls)
no_rendering_mode bool false Disable rendering for faster simulation
substepping bool true Enable physics substepping
max_substep_delta_time double 0.01 Max physics substep time in seconds
max_substeps int 10 Max physics substeps per frame
lifecycle_manager_name string carla_lifecycle_manager Name of the lifecycle manager node

See CARLA synchrony and time-step docs for details on timing parameters.

Built-in Scenarios

  • carla_scenarios.scenarios.empty_scenario - Ego vehicle only, no NPCs
  • carla_scenarios.scenarios.default_scenario - Ego + 20 vehicles + 40 pedestrians
  • carla_scenarios.scenarios.light_traffic_scenario - Ego + 5 vehicles + 10 pedestrians
  • carla_scenarios.scenarios.heavy_traffic_scenario - Ego + 50 vehicles + 100 pedestrians
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_python
python3-carla
rclpy
carla_msgs
lifecycle_msgs

System Dependencies

Name
python3-pytest

Dependant Packages

Name Deps
carla_bringup
carla_ros_bridge

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_scenarios at Robotics Stack Exchange

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

carla_scenarios 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

Scenario plugin system and scenario server node

Maintainers

  • WATonomous

Authors

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

carla_scenarios

Scenario management for CARLA simulation.

The scenario_server is the central coordinator for the CARLA simulation. It connects to the CARLA server, configures simulation timing settings, and loads scenarios that define the world state - which map to use, where to spawn the ego vehicle, and what traffic to generate.

When a scenario is switched via the switch_scenario service, the server first notifies the lifecycle_manager to clean up all managed nodes, then unloads the current scenario (destroying all actors), and finally loads the new scenario. This triggers the lifecycle manager to bring nodes back up with the new world state.

The server also publishes /clock from CARLA’s simulation time.

Nodes

scenario_server

ros2 run carla_scenarios scenario_server

Publications: scenario_status (carla_msgs/ScenarioStatus), /clock (rosgraph_msgs/Clock)

Services: switch_scenario (carla_msgs/SwitchScenario), get_available_scenarios (carla_msgs/GetAvailableScenarios)

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
initial_scenario string carla_scenarios.scenarios.default_scenario Scenario module path to load on startup
carla_fps double 60.0 Simulation FPS (sets fixed_delta_seconds)
synchronous_mode bool false Server waits for client tick (requires world.tick() calls)
no_rendering_mode bool false Disable rendering for faster simulation
substepping bool true Enable physics substepping
max_substep_delta_time double 0.01 Max physics substep time in seconds
max_substeps int 10 Max physics substeps per frame
lifecycle_manager_name string carla_lifecycle_manager Name of the lifecycle manager node

See CARLA synchrony and time-step docs for details on timing parameters.

Built-in Scenarios

  • carla_scenarios.scenarios.empty_scenario - Ego vehicle only, no NPCs
  • carla_scenarios.scenarios.default_scenario - Ego + 20 vehicles + 40 pedestrians
  • carla_scenarios.scenarios.light_traffic_scenario - Ego + 5 vehicles + 10 pedestrians
  • carla_scenarios.scenarios.heavy_traffic_scenario - Ego + 50 vehicles + 100 pedestrians
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_python
python3-carla
rclpy
carla_msgs
lifecycle_msgs

System Dependencies

Name
python3-pytest

Dependant Packages

Name Deps
carla_bringup
carla_ros_bridge

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_scenarios at Robotics Stack Exchange

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

carla_scenarios 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

Scenario plugin system and scenario server node

Maintainers

  • WATonomous

Authors

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

carla_scenarios

Scenario management for CARLA simulation.

The scenario_server is the central coordinator for the CARLA simulation. It connects to the CARLA server, configures simulation timing settings, and loads scenarios that define the world state - which map to use, where to spawn the ego vehicle, and what traffic to generate.

When a scenario is switched via the switch_scenario service, the server first notifies the lifecycle_manager to clean up all managed nodes, then unloads the current scenario (destroying all actors), and finally loads the new scenario. This triggers the lifecycle manager to bring nodes back up with the new world state.

The server also publishes /clock from CARLA’s simulation time.

Nodes

scenario_server

ros2 run carla_scenarios scenario_server

Publications: scenario_status (carla_msgs/ScenarioStatus), /clock (rosgraph_msgs/Clock)

Services: switch_scenario (carla_msgs/SwitchScenario), get_available_scenarios (carla_msgs/GetAvailableScenarios)

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
initial_scenario string carla_scenarios.scenarios.default_scenario Scenario module path to load on startup
carla_fps double 60.0 Simulation FPS (sets fixed_delta_seconds)
synchronous_mode bool false Server waits for client tick (requires world.tick() calls)
no_rendering_mode bool false Disable rendering for faster simulation
substepping bool true Enable physics substepping
max_substep_delta_time double 0.01 Max physics substep time in seconds
max_substeps int 10 Max physics substeps per frame
lifecycle_manager_name string carla_lifecycle_manager Name of the lifecycle manager node

See CARLA synchrony and time-step docs for details on timing parameters.

Built-in Scenarios

  • carla_scenarios.scenarios.empty_scenario - Ego vehicle only, no NPCs
  • carla_scenarios.scenarios.default_scenario - Ego + 20 vehicles + 40 pedestrians
  • carla_scenarios.scenarios.light_traffic_scenario - Ego + 5 vehicles + 10 pedestrians
  • carla_scenarios.scenarios.heavy_traffic_scenario - Ego + 50 vehicles + 100 pedestrians
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_python
python3-carla
rclpy
carla_msgs
lifecycle_msgs

System Dependencies

Name
python3-pytest

Dependant Packages

Name Deps
carla_bringup
carla_ros_bridge

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_scenarios at Robotics Stack Exchange

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

carla_scenarios 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

Scenario plugin system and scenario server node

Maintainers

  • WATonomous

Authors

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

carla_scenarios

Scenario management for CARLA simulation.

The scenario_server is the central coordinator for the CARLA simulation. It connects to the CARLA server, configures simulation timing settings, and loads scenarios that define the world state - which map to use, where to spawn the ego vehicle, and what traffic to generate.

When a scenario is switched via the switch_scenario service, the server first notifies the lifecycle_manager to clean up all managed nodes, then unloads the current scenario (destroying all actors), and finally loads the new scenario. This triggers the lifecycle manager to bring nodes back up with the new world state.

The server also publishes /clock from CARLA’s simulation time.

Nodes

scenario_server

ros2 run carla_scenarios scenario_server

Publications: scenario_status (carla_msgs/ScenarioStatus), /clock (rosgraph_msgs/Clock)

Services: switch_scenario (carla_msgs/SwitchScenario), get_available_scenarios (carla_msgs/GetAvailableScenarios)

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
initial_scenario string carla_scenarios.scenarios.default_scenario Scenario module path to load on startup
carla_fps double 60.0 Simulation FPS (sets fixed_delta_seconds)
synchronous_mode bool false Server waits for client tick (requires world.tick() calls)
no_rendering_mode bool false Disable rendering for faster simulation
substepping bool true Enable physics substepping
max_substep_delta_time double 0.01 Max physics substep time in seconds
max_substeps int 10 Max physics substeps per frame
lifecycle_manager_name string carla_lifecycle_manager Name of the lifecycle manager node

See CARLA synchrony and time-step docs for details on timing parameters.

Built-in Scenarios

  • carla_scenarios.scenarios.empty_scenario - Ego vehicle only, no NPCs
  • carla_scenarios.scenarios.default_scenario - Ego + 20 vehicles + 40 pedestrians
  • carla_scenarios.scenarios.light_traffic_scenario - Ego + 5 vehicles + 10 pedestrians
  • carla_scenarios.scenarios.heavy_traffic_scenario - Ego + 50 vehicles + 100 pedestrians
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_python
python3-carla
rclpy
carla_msgs
lifecycle_msgs

System Dependencies

Name
python3-pytest

Dependant Packages

Name Deps
carla_bringup
carla_ros_bridge

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_scenarios at Robotics Stack Exchange

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

carla_scenarios 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

Scenario plugin system and scenario server node

Maintainers

  • WATonomous

Authors

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

carla_scenarios

Scenario management for CARLA simulation.

The scenario_server is the central coordinator for the CARLA simulation. It connects to the CARLA server, configures simulation timing settings, and loads scenarios that define the world state - which map to use, where to spawn the ego vehicle, and what traffic to generate.

When a scenario is switched via the switch_scenario service, the server first notifies the lifecycle_manager to clean up all managed nodes, then unloads the current scenario (destroying all actors), and finally loads the new scenario. This triggers the lifecycle manager to bring nodes back up with the new world state.

The server also publishes /clock from CARLA’s simulation time.

Nodes

scenario_server

ros2 run carla_scenarios scenario_server

Publications: scenario_status (carla_msgs/ScenarioStatus), /clock (rosgraph_msgs/Clock)

Services: switch_scenario (carla_msgs/SwitchScenario), get_available_scenarios (carla_msgs/GetAvailableScenarios)

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
initial_scenario string carla_scenarios.scenarios.default_scenario Scenario module path to load on startup
carla_fps double 60.0 Simulation FPS (sets fixed_delta_seconds)
synchronous_mode bool false Server waits for client tick (requires world.tick() calls)
no_rendering_mode bool false Disable rendering for faster simulation
substepping bool true Enable physics substepping
max_substep_delta_time double 0.01 Max physics substep time in seconds
max_substeps int 10 Max physics substeps per frame
lifecycle_manager_name string carla_lifecycle_manager Name of the lifecycle manager node

See CARLA synchrony and time-step docs for details on timing parameters.

Built-in Scenarios

  • carla_scenarios.scenarios.empty_scenario - Ego vehicle only, no NPCs
  • carla_scenarios.scenarios.default_scenario - Ego + 20 vehicles + 40 pedestrians
  • carla_scenarios.scenarios.light_traffic_scenario - Ego + 5 vehicles + 10 pedestrians
  • carla_scenarios.scenarios.heavy_traffic_scenario - Ego + 50 vehicles + 100 pedestrians
CHANGELOG
No CHANGELOG found.

Package Dependencies

Deps Name
ament_python
python3-carla
rclpy
carla_msgs
lifecycle_msgs

System Dependencies

Name
python3-pytest

Dependant Packages

Name Deps
carla_bringup
carla_ros_bridge

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_scenarios at Robotics Stack Exchange