README.md

RVIZ CARLA Control

A RVIZ plugin to visualize/control CARLA.

This plugin is expecting a ego vehicle named ego_vehicle.

Features

Provide the RVIZ view pose to other nodes

In combination with carla_spectator_camera, this allows visually moving around in the CARLA world.

Currently, it is limited to a camera attached to the ego-vehicle. Please set the target frame of the "Current View" to ego_vehicle.

Visualize the current ego vehicle state

The current vehicle state is visualized:

• Vehicle Control
• Position

Allows manually overriding the ego vehicle vehicle control

By using the drive-widget from the RVIZ Visualization Tutorials and a node to convert from twist to vehicle control it is possible to steer the ego vehicle by mouse.

Execute a scenario

By using carla_ros_scenario_runner, it is possible to trigger scenarios from within RVIZ.

Play/Pause the simulation (if started in synchronous mode)

Similar to the rqt CARLA plugin, it's possible to control the CARLA world, if synchronous mode is active.

Topics

Subscriptions

Topic	Type	Description
/carla/status	carla_msgs.CarlaStatus	Read the status of CARLA, to enable/disable the UI
/carla/ego_vehicle/vehicle_status	carla_msgs.CarlaEgoVehicleStatus	To display the current state of the ego vehicle
/carla/ego_vehicle/odometry	nav_msgs.Odometry	To display the current pose of the ego vehicle
/scenario_runner/status	carla_ros_scenario_runner_types.CarlaScenarioRunnerStatus	To visualize the scenario runner status
/carla/available_scenarios	carla_ros_scenario_runner_types.CarlaScenarioList	For providing a list of scenarios to execute (disabled in combo box)

Publications

Topic	Type	Description
/carla/control	carla_msgs.CarlaControl	Start/pause CARLA
/carla/ego_vehicle/spectator_pose	geometry_msgs.PoseStamped	Publish the current pose of the RVIZ camera view.
/carla/ego_vehicle/vehicle_control_manual_override	std_msgs.Bool	To enable/disable the overriding of the vehicle control
/carla/ego_vehicle/twist	geometry_msgs.Twist	The twist command, created via mouse

Service Client

Service	Type	Description
/scenario_runner/execute_scenario	carla_ros_scenario_runner_types.ExecuteScenario	Execute the selected scenario