Carla ros bridge 案例的运行

1 启动CARLA仿真环境后台：

切换到CARLA路径：

cd <path to Carla>

后台启动CARLA仿真环境：

SDL_VIDEODRIVER=offscreen ./CarlaUE4.sh -opengl

2 配置环境变量

下面的命令在每打开一个终端时都要再运行一次

等待一段时间后运行以下指令来设置环境变量：

export PYTHONPATH=$PYTHONPATH:<path-to-carla>/PythonAPI/carla/dist/carla-<carla_version_and_arch>.egg

对应于我的电脑上就是以下指令

export PYTHONPATH=$PYTHONPATH:/home/jk/CARLA_0.9.9/PythonAPI/carla/dist/carla-0.9.9-py2.7-linux-x86_64.egg

source carla-ros-bridge 下的setup.bash

source ~/carla-ros-bridge/catkin_ws/devel/setup.bash

3 启动ros bridge

# Option 1: start the ros bridge
roslaunch carla_ros_bridge carla_ros_bridge.launch

# Option 3: start the ros bridge together with an example ego vehicle
roslaunch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch

之后可以新打开一个一个终端，查看发布的topic，我运行的是# Option 3，其发布的消息有：

/carla/actor_list
/carla/debug_marker
/carla/ego_vehicle/camera/rgb/front/camera_info
/carla/ego_vehicle/camera/rgb/front/image_color
/carla/ego_vehicle/camera/rgb/view/camera_info
/carla/ego_vehicle/camera/rgb/view/image_color
/carla/ego_vehicle/collision
/carla/ego_vehicle/enable_autopilot
/carla/ego_vehicle/gnss/gnss1/fix
/carla/ego_vehicle/imu/imu1
/carla/ego_vehicle/initialpose
/carla/ego_vehicle/lane_invasion
/carla/ego_vehicle/lidar/lidar1/point_cloud
/carla/ego_vehicle/objects
/carla/ego_vehicle/odometry
/carla/ego_vehicle/radar/front/radar
/carla/ego_vehicle/twist_cmd
/carla/ego_vehicle/vehicle_control_cmd
/carla/ego_vehicle/vehicle_control_cmd_manual
/carla/ego_vehicle/vehicle_control_manual_override
/carla/ego_vehicle/vehicle_info
/carla/ego_vehicle/vehicle_status
/carla/marker
/carla/objects
/carla/status
/carla/traffic_lights
/carla/traffic_lights_info
/carla/weather_control
/carla/world_info
/clicked_point
/clock
/initialpose
/move_base_simple/goal
/rosout
/rosout_agg
/tf
/tf_static

可以打开rviz查看其中的一些消息，如图像消息：

雷达消息