pythonapi-test

This repository is created to learn to use Carla's PythonAPI

Scripts

GlobalPathCarla2ROS

This is a ROS node that publishes global path on request.

Topics

Publisher: /<name_space>/global_path

• Message Type : Path (nav_msgs/path)

Subscriber: /<name_space>/get_global_path

• Message Type : String (publish empty string on this topic to get global path)

Use

def main(argv):

	client = carla.Client('localhost',2000)
	client.set_timeout(2.0)

	world = client.get_world()

	
	# namespace - 'carla'
	node = globalPathServer(world,'carla')

	while not rospy.is_shutdown():
		rospy.spin()

Test

Run roscore

Goto carla source folder and run carla server

./CarlaUE4.sh -windowed -ResX=320 -ResY=240 -benchmark -fps=10 

Run carla client, this should spawn an actor

python main_carla.py 

Launch carla_ros_bridge

roslaunch carla_ros_bridge client.launch