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carla-e2e-av-stack repository

aloam_velodyne sc_aloam_velodyne loam_utils vehicle_ctrl carla_msgs lidar_to_grid pcl_conversions pcl_ros perception_pcl

ROS Distro
github

Repository Summary

Description This repository contains the code for an end-to-end autonomous vehicle stack, including perception, planning, and control, built for CARLA.
Checkout URI https://github.com/soumya997/carla-e2e-av-stack.git
VCS Type git
VCS Version main
Last Updated 2025-03-31
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
aloam_velodyne 0.0.0
sc_aloam_velodyne 0.0.0
loam_utils 0.0.0
vehicle_ctrl 0.0.0
carla_msgs 1.3.0
lidar_to_grid 0.0.1
pcl_conversions 2.6.1
pcl_ros 2.6.1
perception_pcl 2.6.1

README

Carla E2E AV Stack

This repository offers a ready-to-use perception and control stack for autonomous vehicles, designed to streamline development and testing in CARLA. With a simple plug-and-play approach, it provides a foundational pipeline for experimenting with perception algorithms and integrating outputs with planning and control, saving time and letting you focus on innovation.


currently its capable of,

  • load any town’s lanelet map
  • spawn and set goal using rviz
  • Use A-LOAM or SC-A-LOAM for odometry.
  • evaluate odometry based on MSE-ATE, and scale error.
  • Waypoint following using PID control.
  • Run in both ROS1 and ROS2
  • EKF sensor fusion of IMU and LiDAR
  • Add Occupancy grid carla E2E AV

Articles:

  • Setup ROS2 with Carla: https://learnopencv.com/ros2-and-carla-setup-guide/
  • About building this project: https://learnopencv.com/pid-controller-ros-2-carla/
  • LiDAR SLAM: https://learnopencv.com/lidar-slam-with-ros2/

A-LOAM and SC-A-LOAM comparison

Below are two separate tables summarizing A-LOAM and SC-A-LOAM performance based on latency and memory.

A-LOAM SC-A-LOAM

A-LOAM

Parameter Value
Odom Rate 20 Hz (/aft_mapped_path)
Map Rate 1 Hz (/laser_cloud_map)
RMS ATE 0.9114 m
Scale Error 0.15%
/alaserMapping 159800 byte (~159.8 KB)
/alaserOdometry 142164 byte (~142.164 KB)
/ascanRegistration 32060 byte (~32.06 KB)

SC-A-LOAM

Parameter Value
Odom Rate 10 Hz (/aft_pgo_path)
Map Update 0.100 Hz (/aft_pgo_map)
Map Node 233.840 kb
Odometry 142.240 kb
PGO 110.800 kb
Scan Registration 32.004 kb
RMS ATE 14 - 20 m
Scale Error 0.37%

Download bagfile

Comparison based on the a fixed trajectory

A-LOAM SC-A-LOAM

Dependency

  • Carla 0.9.11
  • ROS1 noetic and ROS2 humble
  • Ceres Solver , PCL and PCL-conversitions

Run ROS1 code

Run the AV stack without odometry from LOAM in ROS1

build:

```python $ git clone https://github.com/soumya997/carla-e2e-av-stack.git

File truncated at 100 lines see the full file

CONTRIBUTING

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

carla-e2e-av-stack repository

aloam_velodyne sc_aloam_velodyne loam_utils vehicle_ctrl carla_msgs lidar_to_grid pcl_conversions pcl_ros perception_pcl

ROS Distro
github

Repository Summary

Description This repository contains the code for an end-to-end autonomous vehicle stack, including perception, planning, and control, built for CARLA.
Checkout URI https://github.com/soumya997/carla-e2e-av-stack.git
VCS Type git
VCS Version main
Last Updated 2025-03-31
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
aloam_velodyne 0.0.0
sc_aloam_velodyne 0.0.0
loam_utils 0.0.0
vehicle_ctrl 0.0.0
carla_msgs 1.3.0
lidar_to_grid 0.0.1
pcl_conversions 2.6.1
pcl_ros 2.6.1
perception_pcl 2.6.1

README

Carla E2E AV Stack

This repository offers a ready-to-use perception and control stack for autonomous vehicles, designed to streamline development and testing in CARLA. With a simple plug-and-play approach, it provides a foundational pipeline for experimenting with perception algorithms and integrating outputs with planning and control, saving time and letting you focus on innovation.


currently its capable of,

  • load any town’s lanelet map
  • spawn and set goal using rviz
  • Use A-LOAM or SC-A-LOAM for odometry.
  • evaluate odometry based on MSE-ATE, and scale error.
  • Waypoint following using PID control.
  • Run in both ROS1 and ROS2
  • EKF sensor fusion of IMU and LiDAR
  • Add Occupancy grid carla E2E AV

Articles:

  • Setup ROS2 with Carla: https://learnopencv.com/ros2-and-carla-setup-guide/
  • About building this project: https://learnopencv.com/pid-controller-ros-2-carla/
  • LiDAR SLAM: https://learnopencv.com/lidar-slam-with-ros2/

A-LOAM and SC-A-LOAM comparison

Below are two separate tables summarizing A-LOAM and SC-A-LOAM performance based on latency and memory.

A-LOAM SC-A-LOAM

A-LOAM

Parameter Value
Odom Rate 20 Hz (/aft_mapped_path)
Map Rate 1 Hz (/laser_cloud_map)
RMS ATE 0.9114 m
Scale Error 0.15%
/alaserMapping 159800 byte (~159.8 KB)
/alaserOdometry 142164 byte (~142.164 KB)
/ascanRegistration 32060 byte (~32.06 KB)

SC-A-LOAM

Parameter Value
Odom Rate 10 Hz (/aft_pgo_path)
Map Update 0.100 Hz (/aft_pgo_map)
Map Node 233.840 kb
Odometry 142.240 kb
PGO 110.800 kb
Scan Registration 32.004 kb
RMS ATE 14 - 20 m
Scale Error 0.37%

Download bagfile

Comparison based on the a fixed trajectory

A-LOAM SC-A-LOAM

Dependency

  • Carla 0.9.11
  • ROS1 noetic and ROS2 humble
  • Ceres Solver , PCL and PCL-conversitions

Run ROS1 code

Run the AV stack without odometry from LOAM in ROS1

build:

```python $ git clone https://github.com/soumya997/carla-e2e-av-stack.git

File truncated at 100 lines see the full file

CONTRIBUTING

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

carla-e2e-av-stack repository

aloam_velodyne sc_aloam_velodyne loam_utils vehicle_ctrl carla_msgs lidar_to_grid pcl_conversions pcl_ros perception_pcl

ROS Distro
github

Repository Summary

Description This repository contains the code for an end-to-end autonomous vehicle stack, including perception, planning, and control, built for CARLA.
Checkout URI https://github.com/soumya997/carla-e2e-av-stack.git
VCS Type git
VCS Version main
Last Updated 2025-03-31
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
aloam_velodyne 0.0.0
sc_aloam_velodyne 0.0.0
loam_utils 0.0.0
vehicle_ctrl 0.0.0
carla_msgs 1.3.0
lidar_to_grid 0.0.1
pcl_conversions 2.6.1
pcl_ros 2.6.1
perception_pcl 2.6.1

README

Carla E2E AV Stack

This repository offers a ready-to-use perception and control stack for autonomous vehicles, designed to streamline development and testing in CARLA. With a simple plug-and-play approach, it provides a foundational pipeline for experimenting with perception algorithms and integrating outputs with planning and control, saving time and letting you focus on innovation.


currently its capable of,

  • load any town’s lanelet map
  • spawn and set goal using rviz
  • Use A-LOAM or SC-A-LOAM for odometry.
  • evaluate odometry based on MSE-ATE, and scale error.
  • Waypoint following using PID control.
  • Run in both ROS1 and ROS2
  • EKF sensor fusion of IMU and LiDAR
  • Add Occupancy grid carla E2E AV

Articles:

  • Setup ROS2 with Carla: https://learnopencv.com/ros2-and-carla-setup-guide/
  • About building this project: https://learnopencv.com/pid-controller-ros-2-carla/
  • LiDAR SLAM: https://learnopencv.com/lidar-slam-with-ros2/

A-LOAM and SC-A-LOAM comparison

Below are two separate tables summarizing A-LOAM and SC-A-LOAM performance based on latency and memory.

A-LOAM SC-A-LOAM

A-LOAM

Parameter Value
Odom Rate 20 Hz (/aft_mapped_path)
Map Rate 1 Hz (/laser_cloud_map)
RMS ATE 0.9114 m
Scale Error 0.15%
/alaserMapping 159800 byte (~159.8 KB)
/alaserOdometry 142164 byte (~142.164 KB)
/ascanRegistration 32060 byte (~32.06 KB)

SC-A-LOAM

Parameter Value
Odom Rate 10 Hz (/aft_pgo_path)
Map Update 0.100 Hz (/aft_pgo_map)
Map Node 233.840 kb
Odometry 142.240 kb
PGO 110.800 kb
Scan Registration 32.004 kb
RMS ATE 14 - 20 m
Scale Error 0.37%

Download bagfile

Comparison based on the a fixed trajectory

A-LOAM SC-A-LOAM

Dependency

  • Carla 0.9.11
  • ROS1 noetic and ROS2 humble
  • Ceres Solver , PCL and PCL-conversitions

Run ROS1 code

Run the AV stack without odometry from LOAM in ROS1

build:

```python $ git clone https://github.com/soumya997/carla-e2e-av-stack.git

File truncated at 100 lines see the full file

CONTRIBUTING

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

carla-e2e-av-stack repository

aloam_velodyne sc_aloam_velodyne loam_utils vehicle_ctrl carla_msgs lidar_to_grid pcl_conversions pcl_ros perception_pcl

ROS Distro
github

Repository Summary

Description This repository contains the code for an end-to-end autonomous vehicle stack, including perception, planning, and control, built for CARLA.
Checkout URI https://github.com/soumya997/carla-e2e-av-stack.git
VCS Type git
VCS Version main
Last Updated 2025-03-31
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
aloam_velodyne 0.0.0
sc_aloam_velodyne 0.0.0
loam_utils 0.0.0
vehicle_ctrl 0.0.0
carla_msgs 1.3.0
lidar_to_grid 0.0.1
pcl_conversions 2.6.1
pcl_ros 2.6.1
perception_pcl 2.6.1

README

Carla E2E AV Stack

This repository offers a ready-to-use perception and control stack for autonomous vehicles, designed to streamline development and testing in CARLA. With a simple plug-and-play approach, it provides a foundational pipeline for experimenting with perception algorithms and integrating outputs with planning and control, saving time and letting you focus on innovation.


currently its capable of,

  • load any town’s lanelet map
  • spawn and set goal using rviz
  • Use A-LOAM or SC-A-LOAM for odometry.
  • evaluate odometry based on MSE-ATE, and scale error.
  • Waypoint following using PID control.
  • Run in both ROS1 and ROS2
  • EKF sensor fusion of IMU and LiDAR
  • Add Occupancy grid carla E2E AV

Articles:

  • Setup ROS2 with Carla: https://learnopencv.com/ros2-and-carla-setup-guide/
  • About building this project: https://learnopencv.com/pid-controller-ros-2-carla/
  • LiDAR SLAM: https://learnopencv.com/lidar-slam-with-ros2/

A-LOAM and SC-A-LOAM comparison

Below are two separate tables summarizing A-LOAM and SC-A-LOAM performance based on latency and memory.

A-LOAM SC-A-LOAM

A-LOAM

Parameter Value
Odom Rate 20 Hz (/aft_mapped_path)
Map Rate 1 Hz (/laser_cloud_map)
RMS ATE 0.9114 m
Scale Error 0.15%
/alaserMapping 159800 byte (~159.8 KB)
/alaserOdometry 142164 byte (~142.164 KB)
/ascanRegistration 32060 byte (~32.06 KB)

SC-A-LOAM

Parameter Value
Odom Rate 10 Hz (/aft_pgo_path)
Map Update 0.100 Hz (/aft_pgo_map)
Map Node 233.840 kb
Odometry 142.240 kb
PGO 110.800 kb
Scan Registration 32.004 kb
RMS ATE 14 - 20 m
Scale Error 0.37%

Download bagfile

Comparison based on the a fixed trajectory

A-LOAM SC-A-LOAM

Dependency

  • Carla 0.9.11
  • ROS1 noetic and ROS2 humble
  • Ceres Solver , PCL and PCL-conversitions

Run ROS1 code

Run the AV stack without odometry from LOAM in ROS1

build:

```python $ git clone https://github.com/soumya997/carla-e2e-av-stack.git

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

carla-e2e-av-stack repository

aloam_velodyne sc_aloam_velodyne loam_utils vehicle_ctrl carla_msgs lidar_to_grid pcl_conversions pcl_ros perception_pcl

ROS Distro
github

Repository Summary

Description This repository contains the code for an end-to-end autonomous vehicle stack, including perception, planning, and control, built for CARLA.
Checkout URI https://github.com/soumya997/carla-e2e-av-stack.git
VCS Type git
VCS Version main
Last Updated 2025-03-31
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
aloam_velodyne 0.0.0
sc_aloam_velodyne 0.0.0
loam_utils 0.0.0
vehicle_ctrl 0.0.0
carla_msgs 1.3.0
lidar_to_grid 0.0.1
pcl_conversions 2.6.1
pcl_ros 2.6.1
perception_pcl 2.6.1

README

Carla E2E AV Stack

This repository offers a ready-to-use perception and control stack for autonomous vehicles, designed to streamline development and testing in CARLA. With a simple plug-and-play approach, it provides a foundational pipeline for experimenting with perception algorithms and integrating outputs with planning and control, saving time and letting you focus on innovation.


currently its capable of,

  • load any town’s lanelet map
  • spawn and set goal using rviz
  • Use A-LOAM or SC-A-LOAM for odometry.
  • evaluate odometry based on MSE-ATE, and scale error.
  • Waypoint following using PID control.
  • Run in both ROS1 and ROS2
  • EKF sensor fusion of IMU and LiDAR
  • Add Occupancy grid carla E2E AV

Articles:

  • Setup ROS2 with Carla: https://learnopencv.com/ros2-and-carla-setup-guide/
  • About building this project: https://learnopencv.com/pid-controller-ros-2-carla/
  • LiDAR SLAM: https://learnopencv.com/lidar-slam-with-ros2/

A-LOAM and SC-A-LOAM comparison

Below are two separate tables summarizing A-LOAM and SC-A-LOAM performance based on latency and memory.

A-LOAM SC-A-LOAM

A-LOAM

Parameter Value
Odom Rate 20 Hz (/aft_mapped_path)
Map Rate 1 Hz (/laser_cloud_map)
RMS ATE 0.9114 m
Scale Error 0.15%
/alaserMapping 159800 byte (~159.8 KB)
/alaserOdometry 142164 byte (~142.164 KB)
/ascanRegistration 32060 byte (~32.06 KB)

SC-A-LOAM

Parameter Value
Odom Rate 10 Hz (/aft_pgo_path)
Map Update 0.100 Hz (/aft_pgo_map)
Map Node 233.840 kb
Odometry 142.240 kb
PGO 110.800 kb
Scan Registration 32.004 kb
RMS ATE 14 - 20 m
Scale Error 0.37%

Download bagfile

Comparison based on the a fixed trajectory

A-LOAM SC-A-LOAM

Dependency

  • Carla 0.9.11
  • ROS1 noetic and ROS2 humble
  • Ceres Solver , PCL and PCL-conversitions

Run ROS1 code

Run the AV stack without odometry from LOAM in ROS1

build:

```python $ git clone https://github.com/soumya997/carla-e2e-av-stack.git

File truncated at 100 lines see the full file

CONTRIBUTING

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

carla-e2e-av-stack repository

aloam_velodyne sc_aloam_velodyne loam_utils vehicle_ctrl carla_msgs lidar_to_grid pcl_conversions pcl_ros perception_pcl

ROS Distro
github

Repository Summary

Description This repository contains the code for an end-to-end autonomous vehicle stack, including perception, planning, and control, built for CARLA.
Checkout URI https://github.com/soumya997/carla-e2e-av-stack.git
VCS Type git
VCS Version main
Last Updated 2025-03-31
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
aloam_velodyne 0.0.0
sc_aloam_velodyne 0.0.0
loam_utils 0.0.0
vehicle_ctrl 0.0.0
carla_msgs 1.3.0
lidar_to_grid 0.0.1
pcl_conversions 2.6.1
pcl_ros 2.6.1
perception_pcl 2.6.1

README

Carla E2E AV Stack

This repository offers a ready-to-use perception and control stack for autonomous vehicles, designed to streamline development and testing in CARLA. With a simple plug-and-play approach, it provides a foundational pipeline for experimenting with perception algorithms and integrating outputs with planning and control, saving time and letting you focus on innovation.


currently its capable of,

  • load any town’s lanelet map
  • spawn and set goal using rviz
  • Use A-LOAM or SC-A-LOAM for odometry.
  • evaluate odometry based on MSE-ATE, and scale error.
  • Waypoint following using PID control.
  • Run in both ROS1 and ROS2
  • EKF sensor fusion of IMU and LiDAR
  • Add Occupancy grid carla E2E AV

Articles:

  • Setup ROS2 with Carla: https://learnopencv.com/ros2-and-carla-setup-guide/
  • About building this project: https://learnopencv.com/pid-controller-ros-2-carla/
  • LiDAR SLAM: https://learnopencv.com/lidar-slam-with-ros2/

A-LOAM and SC-A-LOAM comparison

Below are two separate tables summarizing A-LOAM and SC-A-LOAM performance based on latency and memory.

A-LOAM SC-A-LOAM

A-LOAM

Parameter Value
Odom Rate 20 Hz (/aft_mapped_path)
Map Rate 1 Hz (/laser_cloud_map)
RMS ATE 0.9114 m
Scale Error 0.15%
/alaserMapping 159800 byte (~159.8 KB)
/alaserOdometry 142164 byte (~142.164 KB)
/ascanRegistration 32060 byte (~32.06 KB)

SC-A-LOAM

Parameter Value
Odom Rate 10 Hz (/aft_pgo_path)
Map Update 0.100 Hz (/aft_pgo_map)
Map Node 233.840 kb
Odometry 142.240 kb
PGO 110.800 kb
Scan Registration 32.004 kb
RMS ATE 14 - 20 m
Scale Error 0.37%

Download bagfile

Comparison based on the a fixed trajectory

A-LOAM SC-A-LOAM

Dependency

  • Carla 0.9.11
  • ROS1 noetic and ROS2 humble
  • Ceres Solver , PCL and PCL-conversitions

Run ROS1 code

Run the AV stack without odometry from LOAM in ROS1

build:

```python $ git clone https://github.com/soumya997/carla-e2e-av-stack.git

File truncated at 100 lines see the full file

CONTRIBUTING

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

carla-e2e-av-stack repository

aloam_velodyne sc_aloam_velodyne loam_utils vehicle_ctrl carla_msgs lidar_to_grid pcl_conversions pcl_ros perception_pcl

ROS Distro
github

Repository Summary

Description This repository contains the code for an end-to-end autonomous vehicle stack, including perception, planning, and control, built for CARLA.
Checkout URI https://github.com/soumya997/carla-e2e-av-stack.git
VCS Type git
VCS Version main
Last Updated 2025-03-31
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
aloam_velodyne 0.0.0
sc_aloam_velodyne 0.0.0
loam_utils 0.0.0
vehicle_ctrl 0.0.0
carla_msgs 1.3.0
lidar_to_grid 0.0.1
pcl_conversions 2.6.1
pcl_ros 2.6.1
perception_pcl 2.6.1

README

Carla E2E AV Stack

This repository offers a ready-to-use perception and control stack for autonomous vehicles, designed to streamline development and testing in CARLA. With a simple plug-and-play approach, it provides a foundational pipeline for experimenting with perception algorithms and integrating outputs with planning and control, saving time and letting you focus on innovation.


currently its capable of,

  • load any town’s lanelet map
  • spawn and set goal using rviz
  • Use A-LOAM or SC-A-LOAM for odometry.
  • evaluate odometry based on MSE-ATE, and scale error.
  • Waypoint following using PID control.
  • Run in both ROS1 and ROS2
  • EKF sensor fusion of IMU and LiDAR
  • Add Occupancy grid carla E2E AV

Articles:

  • Setup ROS2 with Carla: https://learnopencv.com/ros2-and-carla-setup-guide/
  • About building this project: https://learnopencv.com/pid-controller-ros-2-carla/
  • LiDAR SLAM: https://learnopencv.com/lidar-slam-with-ros2/

A-LOAM and SC-A-LOAM comparison

Below are two separate tables summarizing A-LOAM and SC-A-LOAM performance based on latency and memory.

A-LOAM SC-A-LOAM

A-LOAM

Parameter Value
Odom Rate 20 Hz (/aft_mapped_path)
Map Rate 1 Hz (/laser_cloud_map)
RMS ATE 0.9114 m
Scale Error 0.15%
/alaserMapping 159800 byte (~159.8 KB)
/alaserOdometry 142164 byte (~142.164 KB)
/ascanRegistration 32060 byte (~32.06 KB)

SC-A-LOAM

Parameter Value
Odom Rate 10 Hz (/aft_pgo_path)
Map Update 0.100 Hz (/aft_pgo_map)
Map Node 233.840 kb
Odometry 142.240 kb
PGO 110.800 kb
Scan Registration 32.004 kb
RMS ATE 14 - 20 m
Scale Error 0.37%

Download bagfile

Comparison based on the a fixed trajectory

A-LOAM SC-A-LOAM

Dependency

  • Carla 0.9.11
  • ROS1 noetic and ROS2 humble
  • Ceres Solver , PCL and PCL-conversitions

Run ROS1 code

Run the AV stack without odometry from LOAM in ROS1

build:

```python $ git clone https://github.com/soumya997/carla-e2e-av-stack.git

File truncated at 100 lines see the full file

CONTRIBUTING

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

carla-e2e-av-stack repository

aloam_velodyne sc_aloam_velodyne loam_utils vehicle_ctrl carla_msgs lidar_to_grid pcl_conversions pcl_ros perception_pcl

ROS Distro
github

Repository Summary

Description This repository contains the code for an end-to-end autonomous vehicle stack, including perception, planning, and control, built for CARLA.
Checkout URI https://github.com/soumya997/carla-e2e-av-stack.git
VCS Type git
VCS Version main
Last Updated 2025-03-31
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
aloam_velodyne 0.0.0
sc_aloam_velodyne 0.0.0
loam_utils 0.0.0
vehicle_ctrl 0.0.0
carla_msgs 1.3.0
lidar_to_grid 0.0.1
pcl_conversions 2.6.1
pcl_ros 2.6.1
perception_pcl 2.6.1

README

Carla E2E AV Stack

This repository offers a ready-to-use perception and control stack for autonomous vehicles, designed to streamline development and testing in CARLA. With a simple plug-and-play approach, it provides a foundational pipeline for experimenting with perception algorithms and integrating outputs with planning and control, saving time and letting you focus on innovation.


currently its capable of,

  • load any town’s lanelet map
  • spawn and set goal using rviz
  • Use A-LOAM or SC-A-LOAM for odometry.
  • evaluate odometry based on MSE-ATE, and scale error.
  • Waypoint following using PID control.
  • Run in both ROS1 and ROS2
  • EKF sensor fusion of IMU and LiDAR
  • Add Occupancy grid carla E2E AV

Articles:

  • Setup ROS2 with Carla: https://learnopencv.com/ros2-and-carla-setup-guide/
  • About building this project: https://learnopencv.com/pid-controller-ros-2-carla/
  • LiDAR SLAM: https://learnopencv.com/lidar-slam-with-ros2/

A-LOAM and SC-A-LOAM comparison

Below are two separate tables summarizing A-LOAM and SC-A-LOAM performance based on latency and memory.

A-LOAM SC-A-LOAM

A-LOAM

Parameter Value
Odom Rate 20 Hz (/aft_mapped_path)
Map Rate 1 Hz (/laser_cloud_map)
RMS ATE 0.9114 m
Scale Error 0.15%
/alaserMapping 159800 byte (~159.8 KB)
/alaserOdometry 142164 byte (~142.164 KB)
/ascanRegistration 32060 byte (~32.06 KB)

SC-A-LOAM

Parameter Value
Odom Rate 10 Hz (/aft_pgo_path)
Map Update 0.100 Hz (/aft_pgo_map)
Map Node 233.840 kb
Odometry 142.240 kb
PGO 110.800 kb
Scan Registration 32.004 kb
RMS ATE 14 - 20 m
Scale Error 0.37%

Download bagfile

Comparison based on the a fixed trajectory

A-LOAM SC-A-LOAM

Dependency

  • Carla 0.9.11
  • ROS1 noetic and ROS2 humble
  • Ceres Solver , PCL and PCL-conversitions

Run ROS1 code

Run the AV stack without odometry from LOAM in ROS1

build:

```python $ git clone https://github.com/soumya997/carla-e2e-av-stack.git

File truncated at 100 lines see the full file

CONTRIBUTING

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carla-e2e-av-stack repository

aloam_velodyne sc_aloam_velodyne loam_utils vehicle_ctrl carla_msgs lidar_to_grid pcl_conversions pcl_ros perception_pcl

ROS Distro
github

Repository Summary

Description This repository contains the code for an end-to-end autonomous vehicle stack, including perception, planning, and control, built for CARLA.
Checkout URI https://github.com/soumya997/carla-e2e-av-stack.git
VCS Type git
VCS Version main
Last Updated 2025-03-31
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
aloam_velodyne 0.0.0
sc_aloam_velodyne 0.0.0
loam_utils 0.0.0
vehicle_ctrl 0.0.0
carla_msgs 1.3.0
lidar_to_grid 0.0.1
pcl_conversions 2.6.1
pcl_ros 2.6.1
perception_pcl 2.6.1

README

Carla E2E AV Stack

This repository offers a ready-to-use perception and control stack for autonomous vehicles, designed to streamline development and testing in CARLA. With a simple plug-and-play approach, it provides a foundational pipeline for experimenting with perception algorithms and integrating outputs with planning and control, saving time and letting you focus on innovation.


currently its capable of,

  • load any town’s lanelet map
  • spawn and set goal using rviz
  • Use A-LOAM or SC-A-LOAM for odometry.
  • evaluate odometry based on MSE-ATE, and scale error.
  • Waypoint following using PID control.
  • Run in both ROS1 and ROS2
  • EKF sensor fusion of IMU and LiDAR
  • Add Occupancy grid carla E2E AV

Articles:

  • Setup ROS2 with Carla: https://learnopencv.com/ros2-and-carla-setup-guide/
  • About building this project: https://learnopencv.com/pid-controller-ros-2-carla/
  • LiDAR SLAM: https://learnopencv.com/lidar-slam-with-ros2/

A-LOAM and SC-A-LOAM comparison

Below are two separate tables summarizing A-LOAM and SC-A-LOAM performance based on latency and memory.

A-LOAM SC-A-LOAM

A-LOAM

Parameter Value
Odom Rate 20 Hz (/aft_mapped_path)
Map Rate 1 Hz (/laser_cloud_map)
RMS ATE 0.9114 m
Scale Error 0.15%
/alaserMapping 159800 byte (~159.8 KB)
/alaserOdometry 142164 byte (~142.164 KB)
/ascanRegistration 32060 byte (~32.06 KB)

SC-A-LOAM

Parameter Value
Odom Rate 10 Hz (/aft_pgo_path)
Map Update 0.100 Hz (/aft_pgo_map)
Map Node 233.840 kb
Odometry 142.240 kb
PGO 110.800 kb
Scan Registration 32.004 kb
RMS ATE 14 - 20 m
Scale Error 0.37%

Download bagfile

Comparison based on the a fixed trajectory

A-LOAM SC-A-LOAM

Dependency

  • Carla 0.9.11
  • ROS1 noetic and ROS2 humble
  • Ceres Solver , PCL and PCL-conversitions

Run ROS1 code

Run the AV stack without odometry from LOAM in ROS1

build:

```python $ git clone https://github.com/soumya997/carla-e2e-av-stack.git

File truncated at 100 lines see the full file

CONTRIBUTING