carla_waypoint_publisher

Carla Waypoint Publisher

Carla supports waypoint calculations. The node carla_waypoint_publisher makes this feature available in the ROS context.

It uses the current pose of the ego vehicle with role-name "ego_vehicle" as starting point. If the vehicle is respawned or moved, the route is newly calculated.

Additionally, services are provided to query CARLA waypoints.

Startup

As the waypoint publisher requires some Carla PythonAPI functionality that is not part of the python egg-file, you have to extend your PYTHONPATH.

export PYTHONPATH=$PYTHONPATH:<path-to-carla>/PythonAPI/carla/dist/carla-<carla_version_and_arch>.egg:<path-to-carla>/PythonAPI/carla/

To run it:

roslaunch carla_waypoint_publisher carla_waypoint_publisher.launch

Set a goal

The goal is either read from the ROS topic /carla/<ROLE NAME>/goal, if available, or a fixed spawnpoint is used.

The prefered way of setting a goal is to click '2D Nav Goal' in RVIZ.

Published waypoints

The calculated route is published:

Topic	Type
/carla/<ego vehicle name>/waypoints	nav_msgs.Path

Available services

Service	Description	Type
/carla_waypoint_publisher/<ego vehicle name>/get_waypoint	Get the waypoint for a specific location	carla_waypoint_types.GetWaypoint
/carla_waypoint_publisher/<ego vehicle name>/get_actor_waypoint	Get the waypoint for an actor id	carla_waypoint_types.GetActorWaypoint