# ros-bridge

**Repository Path**: tsbc/ros-bridge

## Basic Information

- **Project Name**: ros-bridge
- **Description**: 这个 ROS 包是实现 ROS 和 CARLA 之间双向通信的桥梁。来自 CARLA 服务器的信息被转换为 ROS 主题。以同样的方式，ROS 中节点之间发送的消息被转换为要在 CARLA 中应用的命令。
- **Primary Language**: C++
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-07-05
- **Last Updated**: 2022-07-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ROS/ROS2 bridge for CARLA simulator

[![Actions Status](https://github.com/carla-simulator/ros-bridge/workflows/CI/badge.svg)](https://github.com/carla-simulator/ros-bridge)
[![Build Status](https://travis-ci.com/carla-simulator/ros-bridge.svg?branch=master)](https://travis-ci.com/carla-simulator/ros-bridge)
[![GitHub](https://img.shields.io/github/license/carla-simulator/ros-bridge)](https://github.com/carla-simulator/ros-bridge/blob/master/LICENSE)
[![GitHub release (latest by date)](https://img.shields.io/github/v/release/carla-simulator/ros-bridge)](https://github.com/carla-simulator/ros-bridge/releases/latest)

 This ROS package is a bridge that enables two-way communication between ROS and CARLA. The information from the CARLA server is translated to ROS topics. In the same way, the messages sent between nodes in ROS get translated to commands to be applied in CARLA.

![rviz setup](./docs/images/ad_demo.png "AD Demo")

**This version requires CARLA 0.9.11**

## Features

- Provide Sensor Data (Lidar, Semantic lidar, Cameras (depth, segmentation, rgb, dvs), GNSS, Radar, IMU)
- Provide Object Data (Transforms (via [tf](http://wiki.ros.org/tf)), Traffic light status, Visualization markers, Collision, Lane invasion)
- Control AD Agents (Steer/Throttle/Brake)
- Control CARLA (Play/pause simulation, Set simulation parameters)

## Getting started and documentation

Installation instructions and further documentation of the ROS bridge and additional packages are found [__here__](https://carla.readthedocs.io/projects/ros-bridge/en/latest/).