ROS Bridge Sensors
CARLA server is responsible for publishing the Clock (/clock) based on the simulation time. Clock will be updated every simulation frame.
Available Sensors
RGB camera
| Topic | Type |
|---|---|
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image |
sensor_msgs/Image |
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info |
sensor_msgs/CameraInfo |
Depth camera
| Topic | Type |
|---|---|
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image |
sensor_msgs/Image |
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info |
sensor_msgs/CameraInfo |
Semantic segmentation camera
| Topic | Type |
|---|---|
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image |
sensor_msgs/Image |
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info |
sensor_msgs/CameraInfo |
Instance segmentation camera
| Topic | Type |
|---|---|
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image |
sensor_msgs/Image |
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info |
sensor_msgs/CameraInfo |
Normals camera
| Topic | Type |
|---|---|
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image |
sensor_msgs/Image |
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info |
sensor_msgs/CameraInfo |
Optical flow camera
| Topic | Type |
|---|---|
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image |
sensor_msgs/Image |
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info |
sensor_msgs/CameraInfo |
DVS camera
| Topic | Type |
|---|---|
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/events |
sensor_msgs/PointCloud2 |
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image |
sensor_msgs/Image |
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info |
sensor_msgs/CameraInfo |
Lidar
| Topic | Type |
|---|---|
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME> |
sensor_msgs/PointCloud2 |
Semantic lidar
| Topic | Type |
|---|---|
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME> |
sensor_msgs/PointCloud2 |
Radar
| Topic | Type |
|---|---|
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME> |
sensor_msgs/PointCloud2 |
IMU
| Topic | Type |
|---|---|
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME> |
sensor_msgs/Imu |
GNSS
| Topic | Type |
|---|---|
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME> |
sensor_msgs/NavSatFix |
Lane Invasion Sensor
| Topic | Type |
|---|---|
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME> |
carla_msgs/CarlaLaneInvasionEvent |