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carla-e2e-av-stack repositoryaloam_velodyne sc_aloam_velodyne loam_utils vehicle_ctrl carla_msgs lidar_to_grid pcl_conversions pcl_ros perception_pcl |
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 |
| Tags | No category tags. |
| 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. Known supported distros are highlighted in the buttons above.
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No version for distro noetic. Known supported distros are highlighted in the buttons above.