ROS2 native interface

The CARLA simulator supports ROS2 natively from the server. To use ROS2 with CARLA, launch the CARLA simulator from the command line with the --ros2 command line option:

./CarlaUnreal.sh --ros2

Sensor data

The CARLA server will broadcast sensor data for any spawned sensors for which ROS is enabled. To enable a sensor for ROS use the enable_for_ros() method of the sensor class:

sensor = world.spawn_actor(sensor_blueprint, transform)
sensor.enable_for_ros()

Set the ROS topic name in the sensor blueprint prior to spawning (a random string name will be generated by default):

bp = bp_lib.find('sensor.camera.rgb')
bp.set_attribute('ros_name', 'front_camera')

In this case the image data will be published to: /carla/front_camera/image.

If the camera is parented to an actor, for example the ego vehicle, the topic name will also include the role name given to the vehicle: /carla/ego/front_camera/image.

See the ROS2 sensors reference for details about the message formats used for each sensor type.

Control data

Controls may be sent to one ego vehicle:

bp = bp.find("vehicle.lincoln.mkz_2020")
bp.set_attribute("ros_name", "ego")

ego = carla.spawn_actor(bp, spawn_point)

When the ego vehicle is spawned a subscriber will be created with ROS topic name: /carla/ego/vehicle_control_cmd.

CarlaEgoVehicleControl.msg

To send control messages, install the ros-carla-msgs ROS package. The control message has the following fields:

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