ROS Bridge Carla

### ROS Bridge with CARLA Setup and Usage Tutorial #### Introduction to ROS-CARLA Integration The integration of Robot Operating System (ROS) with the CARLA simulator allows researchers and developers to simulate autonomous driving scenarios effectively. This combination leverages ROS's powerful middleware capabilities along with CARLA’s realistic urban environments, providing a robust platform for testing algorithms without real-world risks[^1]. #### Prerequisites Installation Before setting up the bridge between ROS and CARLA, ensure that both systems are installed correctly on your machine. For Ubuntu-based distributions, installing ROS Noetic or Melodic alongside Python 2.7 is recommended due to compatibility reasons. Meanwhile, CARLA version should be compatible with these versions as well. For detailed installation instructions refer directly to official documentation provided by each project respectively[^2]. #### Setting Up ROS-Bridge Package Once prerequisites have been met, proceed towards cloning ros-bridge package from GitHub repository into catkin workspace directory: ```bash cd ~/catkin_ws/src/ git clone https://github.com/carla-simulator/ros-bridge.git -b noetic-devel ``` Afterwards compile all packages within this workspace using `catkin_make` command followed by sourcing devel/setup.bash file inside same terminal session where you intend running nodes later on[^3]: ```bash cd ~/catkin_ws && catkin_make source devel/setup.bash ``` #### Running Simulation Environment & Nodes To start simulation environment launch CARLA server first which will host world instances accessible via network connections made through python API client scripts included under examples folder path relative to root level of cloned repo mentioned earlier; meanwhile open another terminal window/tab dedicated solely for launching roscore service plus any additional node(s): ```bash # Terminal Window A: Start CARLA Server ./CarlaUE4.sh -opengl # Terminal Window B: Launch ROS Core Service Plus Additional Node(s) roscore & roslaunch carla_ros_bridge example.launch town:=Town01 synchronous_mode:=true ``` This configuration enables synchronization mode ensuring deterministic behavior during experiments while specifying desired map name parameter value when invoking corresponding .launch files found packaged together within ros-bridge source codebase itself[^4]. #### Interacting With Simulated Vehicles Through Topics/Services With everything set up properly now one can interactively control vehicles spawned inside virtual cityscapes either manually over keyboard inputs mapped onto specific topic messages published periodically at fixed rates defined beforehand OR programmatically sending commands remotely across networks connecting multiple machines involved throughout entire process flow described above including but not limited to publishing velocity targets against longitudinal controller PID gains tuned specifically per make/model type etc.[^5]