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

simulator/CARLA_Autoware/carla_autoware/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(carla_autoware)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
+
+# find dependencies
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(sensor_msgs_py REQUIRED)
+find_package(datetime REQUIRED)
+
+find_package(rclpy REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(carla_msgs REQUIRED)
+find_package(autoware_auto_vehicle_msgs REQUIRED)
+find_package(autoware_auto_control_msgs REQUIRED)
+find_package(tier4_debug_msgs REQUIRED)
+find_package(tier4_system_msgs REQUIRED)
+find_package(autoware_adapi_v1_msgs REQUIRED)
+find_package(transform3d REQUIRED)
+find_package(math REQUIRED)
+find_package(numpy REQUIRED)
+find_package(carla_data_provider REQUIRED)
+
+
+
+
+find_package(ros_environment REQUIRED)
+set(ROS_VERSION $ENV{ROS_VERSION})
+
+ament_export_dependencies(rclpy)
+
+# Install launch files.
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
+
+
+ament_auto_package(
+  launch
+  resource
+  src
+)
+ament_package()

simulator/CARLA_Autoware/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-0.9.14-ubuntu-22.04).
+- Add the egg file to the folder: ../CARLA_0.9.14/PythonAPI/carla/dist
+- And install the wheel using pip.
+
+# Environment
+
+| ubuntu |  ros   | carla  |    autoware     |
+| :----: | :----: | :----: | :-------------: |
+| 22.04  | humble | 0.9.14 | 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/)
+- [autoware containts](https://bitbucket.org/carla-simulator/autoware-contents/src/master/maps/)
+  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 and ROSBridge
+
+  ```
+  git clone https://github.com/mraditya01/CARLA_Autoware.git
+  git clone --recurse-submodules https://github.com/gezp/carla_ros.git -b humble-carla-0.9.14
+  ```
+
+- Copy the files (sensor_kit_calibration.yaml, sensors.calibration.yaml) from folder "GNSS_interface/src/carla_sensor_kit_launch/carla_sensor_kit_description/config" to "src/param/autoware_individual_params/carla_sensor_kit".
+
+## 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
+```
+
+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
+```
+
+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.

simulator/CARLA_Autoware/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": "sensor.pseudo.opendrive_map",
+      "id": "map"
+    },
+    {
+      "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": 1280,
+          "image_size_y": 720,
+          "fov": 100.0
+        },
+        {
+          "type": "sensor.camera.rgb",
+          "id": "rgb_view",
+          "spawn_point": { "x": -4.5, "y": 0.0, "z": 2.8, "roll": 0.0, "pitch": 20.0, "yaw": 0.0 },
+          "image_size_x": 800,
+          "image_size_y": 600,
+          "fov": 90.0,
+          "attached_objects": [
+            {
+              "type": "actor.pseudo.control",
+              "id": "control"
+            }
+          ]
+        },
+        {
+          "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": 32,
+          "points_per_second": 320000,
+          "upper_fov": 2.0,
+          "lower_fov": -26.8,
+          "rotation_frequency": 20,
+          "noise_stddev": 0.0
+        },
+        {
+          "type": "sensor.opendrive_map",
+          "id": "OpenDRIVE",
+          "spawn_point": { "x": 0.0, "y": 0.0, "z": 1.6, "roll": 0.0, "pitch": 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.other.lane_invasion",
+          "id": "lane_invasion",
+          "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": "sensor.pseudo.speedometer",
+          "id": "speedometer"
+        },
+        {
+          "type": "actor.pseudo.control",
+          "id": "control"
+        }
+      ]
+    }
+  ]
+}

simulator/CARLA_Autoware/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="topic_tools" exec="relay" name="camera_info" args="/carla/ego_vehicle/rgb_front/camera_info /sensing/camera/traffic_light/camera_info"/>
+    <node pkg="topic_tools" exec="relay" name="camera" args="/carla/ego_vehicle/rgb_front/image /sensing/camera/camera5/image_rect_color"/>
+    <node pkg="tf2_ros" exec="static_transform_publisher" name="ego_vehicle2base_link" args=" 0 0 0 0 0 0 /ego_vehicle /base_link "/>
+    <node pkg="carla_gnss_interface" exec="carla_gnss_interface_node" name="carla_gnss_interface" output="screen"/>
+    <node pkg="carla_pointcloud_interface" exec="carla_pointcloud_interface_node" name="carla_pointcloud_interface" output="screen"/>
+  </group>
+</launch>

simulator/CARLA_Autoware/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="10"/>
+  <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="0.05"/>
+  <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']"/>
+
+  <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="$(var ego_vehicle_role_name)"/>
+  </node>
+
+  <node pkg="carla_spawn_objects" exec="carla_spawn_objects" name="carla_spawn_objects" output="screen">
+    <!-- Parameters -->
+    <param name="objects_definition_file" value="$(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>
+
+  <node pkg="carla_spawn_objects" exec="set_initial_pose" name="set_initial_pose" output="screen">
+    <!-- Parameters -->
+    <param name="role_name" value="$(var role_name)"/>
+    <param name="control_id" value="$(var control_id)"/>
+  </node>
+</launch>

simulator/CARLA_Autoware/carla_autoware/launch/e2e_simulator.launch.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Essential parameters -->
+  <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+  <arg name="carla" default="false" description="simulation used"/>
+
+  <!-- launch module preset -->
+  <arg name="planning_module_preset" default="default" description="planning module preset"/>
+
+  <!-- Optional parameters -->
+  <!-- Modules to be launched -->
+  <arg name="vehicle" default="true" description="launch vehicle"/>
+  <arg name="system" default="true" description="launch system"/>
+  <arg name="map" default="true" description="launch map"/>
+  <arg name="sensing" default="true" description="launch sensing"/>
+  <arg name="localization" default="true" description="launch localization"/>
+  <arg name="perception" default="true" description="launch perception"/>
+  <arg name="planning" default="true" description="launch planning"/>
+  <arg name="control" default="true" description="launch control"/>
+
+  <!-- Map -->
+  <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
+  <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <!-- Perception -->
+  <arg name="traffic_light_namespace" default="traffic_light" description="traffic light recognition namespace1"/>
+  <!-- Control -->
+  <!-- Vehicle -->
+  <arg name="launch_vehicle_interface" default="false"/>
+  <!-- System -->
+  <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
+  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
+
+  <!-- Tools -->
+  <arg name="rviz" default="true" description="launch rviz"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+
+  <group if="$(var carla)">
+    <include file="$(find-pkg-share carla_autoware)/carla_ros.launch.xml"/>
+    <include file="$(find-pkg-share carla_autoware)/carla_autoware.launch.xml"/>
+  </group>
+
+  <group scoped="false">
+    <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
+      <!-- Common -->
+      <arg name="map_path" value="$(var map_path)"/>
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="data_path" value="$(var data_path)"/>
+      <!-- launch module preset -->
+      <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
+      <!-- Modules to be launched -->
+      <arg name="launch_vehicle" value="$(var vehicle)"/>
+      <arg name="launch_map" value="$(var map)"/>
+      <arg name="launch_sensing" value="$(var sensing)"/>
+      <arg name="launch_localization" value="$(var localization)"/>
+      <arg name="launch_perception" value="$(var perception)"/>
+      <arg name="launch_planning" value="$(var planning)"/>
+      <arg name="launch_control" value="$(var control)"/>
+      <!-- Global parameters -->
+      <arg name="use_sim_time" value="true"/>
+      <!-- Vehicle -->
+      <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
+      <!-- Map -->
+      <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
+      <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
+      <!-- System -->
+      <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
+      <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
+      <!-- Sensing -->
+      <arg name="launch_sensing_driver" value="false"/>
+      <!-- Perception-->
+      <arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
+      <arg name="namespace1" value="$(var traffic_light_namespace)"/>
+      <!-- Tools -->
+      <arg name="rviz" value="$(var rviz)"/>
+      <arg name="rviz_config" value="$(var rviz_config)"/>
+    </include>
+  </group>
+</launch>