The bridge exposes Carla simulator parameters and object entities to ROS 2 topics in Autoware message types. It supports the following features:
- Automatic topic creation for newly added vehicles and other actors.
- Multi-vehicle and multi-actor message publication/subscription.
- Support both direct and Ackermann vehicle control.
- Direct connection to Carla Simulator without going through extra bridges.
Please read the installation guide.
The bridge is programmed as a ROS node. Please read the usage guide to learn about the launch process. The ROS API reference lists ROS topics provided by this node.
- The bridge halts and any other Carla client reload the world.
- When any other Carla client applies control to a car, the bridge is no longer able to control that car.
This project is licensed under MIT license. Please check the license file.