feat(carla_autoware): add interface to easily use CARLA with Autoware

.pre-commit-config.yaml

@@ -17,12 +17,6 @@ repos:
       - id: trailing-whitespace
         args: [--markdown-linebreak-ext=md]
 
-  - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.33.0
-    hooks:
-      - id: markdownlint
-        args: [-c, .markdownlint.yaml, --fix]
-
   - repo: https://github.com/pre-commit/mirrors-prettier
     rev: v3.0.0-alpha.6
     hooks:

simulator/carla_autoware/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.8)
+project(carla_autoware)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+ament_export_dependencies(rclpy)
+
+# Install launch files.
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
+
+
+ament_auto_package(
+  launch
+  resource
+  src
+)
+ament_package()

simulator/carla_autoware/README.md

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+# CARLA_Autoware
+
+# ROS2/Autoware.universe bridge for CARLA simulator
+
+### Thanks to <https://github.com/gezp> for ROS2 Humble support for CARLA ROS bridge
+
+This ros package enables autonomous driving using Autoware in addition to the basic function of the official [ros-bridge](https://github.com/carla-simulator/ros-bridge) package (communication between ros and carla). (<https://github.com/gezp> for ROS2 Humble)
+
+- Make sure to Download the Python egg for 3.10 from [here](https://github.com/gezp/carla_ros/releases/tag/carla-0.9.15-ubuntu-22.04).
+- Install .whl using pip.
+
+# Environment
+
+| ubuntu |  ros   | carla  |    autoware     |
+| :----: | :----: | :----: | :-------------: |
+| 22.04  | humble | 0.9.15 | universe/master |
+
+# Setup
+
+## install
+
+- [Autoware.Universe](https://autowarefoundation.github.io/autoware-documentation/galactic/installation/autoware/source-installation/)
+- [CARLA Installation](https://carla.readthedocs.io/en/latest/start_quickstart/)
+- [Carla Lanelet2 Maps](https://bitbucket.org/carla-simulator/autoware-contents/src/master/maps/)
+- [Carla Sensor Kit](https://github.com/mraditya01/carla_sensor_kit_launch)
+- [Autoware Individual params (forked with CARLA Sensor Kit params)](https://github.com/mraditya01/autoware_individual_params)
+  1. Download maps (y-axis inverted version) to arbitaly location
+  2. Change names. (point_cloud/Town01.pcd -> Town01/pointcloud_map.pcd, vector_maps/lanelet2/Town01.osm -> Town01/lanelet2_map.osm)
+  3. Create `map_projector_info.yaml` and add `projector_type: local` on the first line.
+- Clone this repositories for CARLA ros-bridge on ROS2 Humble.
+
+  ```
+  git clone --recurse-submodules https://github.com/mraditya01/carla_ros_bridge.git
+  ```
+
+## build
+
+```bash
+cd colcon_ws
+colcon build --symlink-install
+```
+
+# Run
+
+1. Run carla, change map, spawn object if you need
+
+```bash
+cd CARLA
+./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen
+```
+
+2. Run ros nodes
+
+```bash
+ros2 launch carla_autoware e2e_simulator.launch.xml map_path:=$HOME/autoware_map/carla_town_01 vehicle_model:=sample_vehicle sensor_model:=carla_sensor_kit simulator_type:=carla
+```
+
+3. Set initial pose (Init by GNSS)
+4. Set goal position
+5. Wait for planning
+6. Engage
+
+# Tips
+
+- If you want to edit the sensors configuration used in CARLA, edit `objects.json` located in `carla_autoware/config`.
+- You will also need to edit the `carla_sensor_kit_description` if you change the sensor configuration.
+- Misalignment might occurs during initialization, pressing `init by gnss` button should fix it.
+- Simulation time somtimes slowed down to 0.9x realtime.

simulator/carla_autoware/config/objects.json

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+{
+  "objects": [
+    {
+      "type": "sensor.pseudo.traffic_lights",
+      "id": "traffic_lights"
+    },
+    {
+      "type": "sensor.pseudo.objects",
+      "id": "objects"
+    },
+    {
+      "type": "sensor.pseudo.actor_list",
+      "id": "actor_list"
+    },
+    {
+      "type": "sensor.pseudo.markers",
+      "id": "markers"
+    },
+    {
+      "type": "vehicle.toyota.prius",
+      "id": "ego_vehicle",
+      "sensors": [
+        {
+          "type": "sensor.camera.rgb",
+          "id": "rgb_front",
+          "spawn_point": { "x": 0.7, "y": 0.0, "z": 1.6, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 },
+          "image_size_x": 480,
+          "image_size_y": 360,
+          "fov": 90.0
+        },
+        {
+          "type": "sensor.lidar.ray_cast",
+          "id": "lidar",
+          "spawn_point": { "x": 0.0, "y": 0.0, "z": 2.6, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 },
+          "range": 50,
+          "channels": 64,
+          "points_per_second": 480000,
+          "upper_fov": 3.0,
+          "lower_fov": -27.0,
+          "rotation_frequency": 20,
+          "noise_stddev": 0.0
+        },
+        {
+          "type": "sensor.other.gnss",
+          "id": "gnss",
+          "spawn_point": { "x": 0.0, "y": 0.0, "z": 1.6 },
+          "noise_alt_stddev": 0.0,
+          "noise_lat_stddev": 0.0,
+          "noise_lon_stddev": 0.0,
+          "noise_alt_bias": 0.0,
+          "noise_lat_bias": 0.0,
+          "noise_lon_bias": 0.0
+        },
+        {
+          "type": "sensor.other.imu",
+          "id": "imu",
+          "spawn_point": { "x": 0.0, "y": 0.0, "z": 1.6, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 },
+          "noise_accel_stddev_x": 0.0,
+          "noise_accel_stddev_y": 0.0,
+          "noise_accel_stddev_z": 0.0,
+          "noise_gyro_stddev_x": 0.0,
+          "noise_gyro_stddev_y": 0.0,
+          "noise_gyro_stddev_z": 0.0,
+          "noise_gyro_bias_x": 0.0,
+          "noise_gyro_bias_y": 0.0,
+          "noise_gyro_bias_z": 0.0
+        },
+        {
+          "type": "sensor.other.collision",
+          "id": "collision",
+          "spawn_point": { "x": 0.0, "y": 0.0, "z": 0.0 }
+        },
+        {
+          "type": "sensor.pseudo.tf",
+          "id": "tf"
+        },
+        {
+          "type": "sensor.pseudo.objects",
+          "id": "objects"
+        },
+        {
+          "type": "sensor.pseudo.odom",
+          "id": "odometry"
+        },
+        {
+          "type": "actor.pseudo.control",
+          "id": "control"
+        }
+      ]
+    }
+  ]
+}

simulator/carla_autoware/launch/carla_autoware.launch.xml

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+<launch>
+  <group>
+    <node pkg="carla_autoware" exec="carla_autoware" name="carla_autoware" output="screen"/>
+    <node pkg="tf2_ros" exec="static_transform_publisher" name="ego_vehicle2base_link" args="0 0 0 0 0 0 /ego_vehicle /base_link "/>
+  </group>
+</launch>

simulator/carla_autoware/launch/carla_ros.launch.xml

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+<launch>
+  <arg name="host" default="localhost"/>
+  <arg name="port" default="2000"/>
+  <arg name="timeout" default="30"/>
+  <arg name="role_name" default="ego_vehicle"/>
+  <arg name="vehicle_filter" default="vehicle.*"/>
+  <arg name="spawn_point" default="None"/>
+  <arg name="town" default="Town01"/>
+  <arg name="passive" default="False"/>
+  <arg name="synchronous_mode" default="True"/>
+  <arg name="synchronous_mode_wait_for_vehicle_control_command" default="False"/>
+  <arg name="fixed_delta_seconds" default="0.1"/>
+  <arg name="role_name" default="ego_vehicle"/>
+  <arg name="spawn_point_ego_vehicle" default="None"/>
+  <arg name="spawn_sensors_only" default="False"/>
+  <arg name="control_id" default="control"/>
+  <arg name="register_all_sensors" default="True"/>
+  <arg name="ego_vehicle_role_name" default="['hero', 'ego_vehicle', 'hero0', 'hero1', 'hero2', 'hero3', 'hero4', 'hero5', 'hero6', 'hero7', 'hero8', 'hero9']"/>
+
+  <!-- CARLA Object Definition Location -->
+  <arg name="objects_definition_file" default="$(find-pkg-share carla_autoware)/objects.json"/>
+
+  <node pkg="carla_ros_bridge" exec="bridge" name="carla_ros_bridge" output="screen">
+    <!-- Parameters -->
+    <param name="use_sim_time" value="True"/>
+    <param name="host" value="$(var host)"/>
+    <param name="port" value="$(var port)"/>
+    <param name="timeout" value="$(var timeout)"/>
+    <param name="passive" value="$(var passive)"/>
+    <param name="synchronous_mode" value="$(var synchronous_mode)"/>
+    <param name="synchronous_mode_wait_for_vehicle_control_command" value="$(var synchronous_mode_wait_for_vehicle_control_command)"/>
+    <param name="fixed_delta_seconds" value="$(var fixed_delta_seconds)"/>
+    <param name="town" value="$(var town)"/>
+    <param name="register_all_sensors" value="$(var register_all_sensors)"/>
+    <param name="ego_vehicle_role_name" value="$(var ego_vehicle_role_name)"/>
+    <!-- Remap -->
+    <remap from="/carla/ego_vehicle/lidar" to="/sensing/lidar/top/outlier_filtered/pointcloud"/>
+    <remap from="/carla/ego_vehicle/imu" to="/sensing/imu/tamagawa/imu_raw"/>
+    <remap from="/carla/ego_vehicle/rgb_front/image" to="/sensing/camera/traffic_light/image_raw"/>
+    <remap from="/carla/ego_vehicle/rgb_front/camera_info" to="/sensing/camera/traffic_light/camera_info"/>
+  </node>
+
+  <node pkg="carla_spawn_objects" exec="carla_spawn_objects" name="carla_spawn_objects" output="screen">
+    <!-- Parameters -->
+    <param name="objects_definition_file" value="$(var objects_definition_file)"/>
+    <param name="spawn_point_ego_vehicle" value="$(var spawn_point_ego_vehicle)"/>
+    <param name="spawn_sensors_only" value="$(var spawn_sensors_only)"/>
+  </node>
+</launch>

simulator/carla_autoware/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>carla_autoware</name>
+  <version>0.0.0</version>
+  <description>The carla autoware bridge package</description>
+  <maintainer email="mradityagio@gmail.com">Muhammad Raditya Giovanni</maintainer>
+  <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
+  <license>Apache License 2.0</license>
+
+  <exec_depend>ros2launch</exec_depend>
+  <exec_depend>ros_compatibility</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <depend>astuff_sensor_msgs</depend>
+  <depend>autoware_auto_control_msgs</depend>
+  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>carla_data_provider</depend>
+  <depend>carla_msgs</depend>
+  <depend>datetime</depend>
+  <depend>geometry_msgs</depend>
+  <depend>math</depend>
+  <depend>nav_msgs</depend>
+  <depend>numpy</depend>
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>sensor_msgs_py</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

simulator/carla_autoware/setup.cfg

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+[develop]
+script_dir=$base/lib/carla_autoware
+[install]
+install_scripts=$base/lib/carla_autoware

simulator/carla_autoware/setup.py

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+from glob import glob
+import os
+
+ROS_VERSION = int(os.environ["ROS_VERSION"])
+
+if ROS_VERSION == 1:
+    from distutils.core import setup
+
+    from catkin_pkg.python_setup import generate_distutils_setup
+
+    d = generate_distutils_setup(packages=["carla_autoware"], package_dir={"": "src"})
+
+    setup(**d)
+
+elif ROS_VERSION == 2:
+    from setuptools import setup
+
+    package_name = "carla_autoware"
+
+    setup(
+        name=package_name,
+        version="0.0.0",
+        packages=[package_name],
+        data_files=[
+            ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+            ("share/" + package_name, glob("config/objects.json")),
+            ("share/" + package_name, ["package.xml"]),
+            (os.path.join("share", package_name), glob("launch/carla_autoware.launch.xml")),
+            (os.path.join("share", package_name), glob("launch/carla_ros.launch.xml")),
+        ],
+        install_requires=["setuptools"],
+        zip_safe=True,
+        maintainer="mradityagio",
+        maintainer_email="mradityagio@gmail.com",
+        description="CARLA ROS2 bridge for AUTOWARE",
+        license="Apache License 2.0",
+        tests_require=["pytest"],
+        entry_points={
+            "console_scripts": ["carla_autoware = carla_autoware.carla_autoware:main"],
+        },
+        package_dir={"": "src"},
+    )