carla-simulator/ros-bridge

ROS bridge for CARLA Simulator

What it solves

It provides a communication link between the CARLA simulator and the Robot Operating System (ROS), allowing developers to use ROS tools to interact with a simulated environment.

How it works

The bridge translates data in two directions: it converts information from the CARLA server into ROS topics for consumption by other nodes, and it translates ROS messages into commands that the CARLA simulator can execute.

Who it’s for

Developers working on autonomous driving (AD) agents and robotics simulation who need to integrate CARLA's high-fidelity environment with the ROS ecosystem.

Highlights

  • Sensor Integration: Provides data from Lidar, Radar, IMU, GNSS, and various camera types (RGB, depth, segmentation, DVS).
  • Object Tracking: Supplies transforms via tf, traffic light status, and collision/lane invasion alerts.
  • ** uma Control**: Allows for the steering, throttling, and braking of AD agents.
  • Simulation Management: Enables playing, pausing, and adjusting parameters of the simulation directly from ROS.

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