Skip to content

Latest commit

 

History

History
106 lines (73 loc) · 2.33 KB

USAGE.md

File metadata and controls

106 lines (73 loc) · 2.33 KB

Usage Guide for Linux

The instructions were tested on Ubuntu 20.04. Other Linuxes may work but it might extra fix-ups.

The Launch Process

Always remember to source generated setup.sh whenever you start a new shell.

source repo/install/setup.sh

There are two ways to bring up this bridge, either by ros2 run or cargo run.

Using ros2 is standard way from ROS and can be integrated into ROS 2 launch. Any modification to the code requires rebuilding the whole repository.

For developers, it is recommended to use cargo run because it automatically re-compiles if the code is modified. In this way, the whole repository is only needed to be built once, and later on, repeat cargo run whenever the code is changed.

Run Using ros2 run (for Users)

To run with default settings,

ros2 run carla_autoware_bridge_plus carla_autoware_bridge_plus

To pass custom address and port parameters,

ros2 run carla_autoware_bridge_plus carla_autoware_bridge_plus \
    --ros-args \
    -p carla_host:=127.0.0.1 \
    -p carla_port:=3000

Run Using cargo run (for Developers)

To run with default settings,

cd repo/src/carla_autoware_bridge_plus/
cargo run

Add --release and it compiles optimized binaries (up to 5x faster). It takes longer compilation time.

cd repo/src/carla_autoware_bridge_plus/
cargo run --release

To pass custom address and port parameters,

cargo run -- \
    --ros-args \
    -p carla_host:=127.0.0.1 \
    -p carla_port:=2000

To pass custom parameters and use optimized compilation,

cargo run --release -- \
    --ros-args \
    -p carla_host:=127.0.0.1 \
    -p carla_port:=2000

You can obtain the compiled binaries in the target/ directory. The binaries are mostly statically linked. It's OK to run these binaries directly as long as setup.sh was sourced.

target/debug/carla_autoware_bridge_plus    # for `cargo run`
target/release/carla_autoware_bridge_plus  # for `cargo run --release`

Node Parameters

The node have the following parameters.

  • carla_host

    Sets the Carla server address the bridge connects to. The default is "127.0.0.1".

  • carla_host

    Sets the Carla server port. The default is 2000.

  • carla_timeout_millis

    Sets the Carla client connection timeout in milliseconds. The default is 20000.