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carla_waypoint_publisher package from carla_ros_bridge repocarla_ackermann_control carla_ego_vehicle carla_infrastructure carla_manual_control carla_msgs carla_ros_bridge carla_waypoint_publisher pcl_recorder rqt_carla_control |
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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | MIT |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carla-simulator/ros-bridge.git |
| VCS Type | git |
| VCS Version | 0.9.6 |
| Last Updated | 2020-01-29 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The carla_waypoint_publisher package
Additional Links
No additional links.
Maintainers
- CARLA Simulator Team
Authors
No additional authors.
Carla Waypoint Publisher
Carla supports waypoint calculations.
The node carla_waypoint_publisher makes this feature available in the ROS context.
It uses the current pose of the ego vehicle with role-name “ego_vehicle” as starting point. If the vehicle is respawned, the route is newly calculated.
Startup
As the waypoint publisher requires some Carla PythonAPI functionality that is not part of the python egg-file, you have to extend your PYTHONPATH.
export PYTHONPATH=$PYTHONPATH:<path-to-carla>/PythonAPI/carla-<carla_version_and_arch>.egg:<path-to-carla>/PythonAPI/carla/
To run it:
roslaunch carla_waypoint_publisher carla_ros_waypoint_publisher.launch
Set a goal
The goal is either read from the ROS topic /carla/<ROLE NAME>/goal, if available, or a fixed spawnpoint is used.
The prefered way of setting a goal is to click ‘2D Nav Goal’ in RVIZ.
Published waypoints
The calculated route is published:
| Topic | Type |
|---|---|
/carla/<ego vehicle name>/waypoints |
nav_msgs.Path |
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Launch files
- launch/carla_waypoint_publisher.launch
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- host [default: localhost]
- port [default: 2000]
- role_name [default: ego_vehicle]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged carla_waypoint_publisher at Robotics Stack Exchange
No version for distro melodic. Known supported distros are highlighted in the buttons above.