README.md · ChenHengwei/carla_ros_bridge_for_center

# Carla ros bridge for center

## Introduction

This repositoty is currently only used for internal debugging and algorithm validation in the ISCAS's laboratory, and has not been linked to any scientific research achievements such as papers. It has many branches, which are used for the following purposes.

*Note: You can debug on your own branch first, and then add the new features to the master branch after successful debugging.*

## Runnning step
 
**Step 1:**

Create ros workspace

```shell
mkdir -p ~/ros_bridge_ws/src

cd ~/ros_bridge_ws/src

git clone https://gitee.com/chenhengwei/carla-ros-bridge-for-center

cd ..

rosdep update

rosdep install --from-paths src --ignore-src -r

catkin_make
```

*Note: If you encounter rosdep update unsuccessful, probably due to network reasons, domestic can use rosdepc, where the c stands for china , you can use ```sudo pip install rosdepc```, then replace "rosdep" with "rosdepc" in the above command. [Fishros](https://fishros.com/)*

**Step 2:**

Launch the ros bridge main function

```shell
source ~/ros_bridge_ws/devel/setup.bash

roslaunch carla_ros_bridge carla_ros_bridge_simple_run.launch
```

In addition, you can also enter the following command in a new terminal:

```shell
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
```

Then, you can control the vehicle in CARLA Simulator with your keyboard.

## TODO list

The current ros bridge still has some bugs and features are not yet fully developed, we will mainly work on the following later:

- 2D information-based map building and navigation.

- Reducing data discrepancies between sensors in simulation and real sensors.

- Combined with traffic simulation software, such as SUMO.

- Safety assessment of algorithms such as planning modules.

## Common issues

You are very welcome to propose more innovative methods. We can continuously discuss and obtain the latest information.

- [Summary of issues](https://gitee.com/chenhengwei/carla-ros-bridge-for-center/blob/master/ros-bridge/README_issues.md)

ChenHengwei/carla_ros_bridge_for_center

简介

发行版

贡献者

近期动态

ChenHengwei/carla_ros_bridge_for_center .gitee-modal { width: 500px !important; }

简介

发行版

贡献者

近期动态

搜索帮助

ChenHengwei/carla_ros_bridge_for_center