This meta package provides everything to launch a CARLA ROS environment with an AD vehicle.
The Node setup is visualized here
export PYTHONPATH=$PYTHONPATH:<path_to_carla>/PythonAPI/carla-<carla_version_and_arch>.egg:<path_to_carla>/PythonAPI/carla/
export SCENARIO_RUNNER_PATH=<path_to_scenario_runner>
roslaunch carla_ad_demo carla_ad_demo_with_rviz.launch
On startup, an ego vehicle is spawned and follows a random route to a goal.
You might want to spawn additional vehicles (or pedestrians) by manually executing:
<CARLA_PATH>/PythonAPI/examples/spawn_npc.py
You can modify start position and goal within the launch file. The route is currently randomly (regarding the left/right turns) calculated.
If you prefer to execute a predefined scenario, select to example scenario "FollowLeadingVehicle" within the RVIZ Carla Plugin and press "Execute". The ego vehicle gets repositioned and the scenario is processed.
You can specify your own scenarios by publishing to /carla/available_scenarios. See the launch file for an example.
If the example scenario fails, please analyze the ros log and follow the scenario runner Getting Started to verify that it's working standalone.