# carla-ros-bridge

**Repository Path**: git_ming/carla-ros-bridge

## Basic Information

- **Project Name**: carla-ros-bridge
- **Description**: 使用ROS 2 foxy
在原来的bridge的基础上添加了智能驾驶功能

- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 9
- **Created**: 2023-04-10
- **Last Updated**: 2023-04-10

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# carla 里面方向盘左正右负

# PID & Foxy 启动流程
1. cd /carla-ros-bridge
2. source source_env.sh 
3. colcon build
4. source source_env.sh
5. ros2 launch carla_shenlan_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
6. 在新的终端里面: ros2 run carla_shenlan_pid_controller carla_shenlan_pid_controller_node

# Stanley & Foxy 需要完成的内容
1. src/ros-bridge/carla_shenlan_projects/carla_shenlan_stanley_pid_controller/src/stanley_controller.cpp 中的 TODO 部分

# Stanley & Foxy 启动流程
1. cd /carla-ros-bridge
2. source source_env.sh
3. colcon build
4. source source_env.sh
5. ros2 launch carla_shenlan_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
6. 在新的终端里面: ros2 run carla_shenlan_stanley_pid_controller carla_shenlan_stanley_pid_controller_node

# LQR & Foxy 需要完成的内容
1. carla-ros-bridge/src/ros-bridge/carla_shenlan_projects/carla_shenlan_lqr_pid_controller/src/lqr_controller.cpp 中的 TODO 部分

# LQR & Foxy 启动流程
1. cd /carla-ros-bridge
2. source source_env.sh
3. colcon build
4. source source_env.sh
5. ros2 launch carla_shenlan_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
6. 在新的终端里面: ros2 launch carla_shenlan_lqr_pid_controller lqr_launch.py

# MPC & Foxy 需要完成的内容
1. 

# MPC & Foxy 启动流程
1. cd /carla-ros-bridge
2. source source_env.sh
3. colcon build
4. source source_env.sh
5. ros2 launch carla_shenlan_bridge_ego_vis carla_bridge_ego_vehilce.launch.py
6. 在新的终端里面: ros2 launch carla_shenlan_mpc_controller mpc_launch.py

<!-- ![alt](./figures/test.jpg) -->