carla_ros_scenario_runner

ROS Scenario Runner

This is a wrapper to execute OpenScenarios with the CARLA scenario runner via ROS.

It is best used from within the rviz_carla_plugin.

Setup

Please follow the scenario runner Getting Started and verify, that scenario_runner is working, if started manually.

Additionally, please execute:

sudo apt install python-pexpect

Startup

The environment variables are forwarded to scenario_runner, therefore set them to:

export PYTHONPATH=$PYTHONPATH:<path_to_carla>/PythonAPI/carla-<carla_version_and_arch>.egg:<path_to_carla>/PythonAPI/carla/

To run the ROS node:

roslaunch carla_ros_scenario_runner carla_ros_scenario_runner.launch scenario_runner_path:=<path_to_scenario_runner>

To run a scenario from commandline:

rosservice call /scenario_runner/execute_scenario "{ 'scenario': { 'scenario_file': '<full_path_to_openscenario_file>', 'target_speed': 10.0, 'destination': { 'position': { 'x': 10, 'y': 10, 'z':0 } } } }"

Available services

Service	Description	Type
/scenario_runner/execute_scenario	Execute a scenario. If another scenario is currently running, it gets stopped.	carla_ros_scenario_runner_types.ExecuteScenario

Available topics

Topic	Description	Type
/carla/<ROLE_NAME>/target_speed	The ego vehicle target speed	std_msgs.Float64
/carla/<ROLE_NAME>/goal	The ego vehicle destination (e.g. used by carla_waypoint_publisher)	geometry_msgs.PoseStamped
/scenario_runner/status	The current status of the scenario runner execution (e.g. used by the rviz_carla_plugin)	carla_ros_scenario_runner_types.CarlaScenarioRunnerStatus