Simple and Customized Carla ROS2 Bridge for TFM Master's Project

This repository contains the code for my TFM Master's project, a bridge between the CARLA simulator and ROS2 using custom nodes.

Table of Contents

• Dependencies
• Building
• Running
• Customizing
• References

Dependencies

This project requires Docker and Docker Compose to run. Ensure that you have these installed on your local environment before proceeding.

Building

The project uses Docker Compose to handle its environment. In order to build the Docker images, run the following command in the root directory of the project:

docker-compose build

To compile the ROS modules in the packages, run:

docker-compose run custom_carla_bridge bash -c "cd /ros2_ws && colcon build && rm -rf ./build ./log"

To build a single package, use the following command:

docker-compose run custom_carla_bridge bash -c "cd /ros2_ws && colcon build --packages-select custom_carla_bridge && rm -rf ./build ./log"

Running

After successfully building the project, you can start the node with the following command:

docker-compose up

You can customize the parameters of the node by editing the docker-compose.yml file.

ros2 launch custom_carla_bridge carla_ros_node.launch.py host:=192.168.1.73 town:=Town07_Opt

Customizing

The command above can be customized as needed for your local environment. Replace 192.168.1.73 with the IP address of your host machine and Town07_Opt with the specific town you want to simulate.

References

For more information on the CARLA simulator and ROS2, check out the following links:

• CARLA Simulator
• ROS2 Documentation

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License: Apache 2.0