Docs/ros2_native_msgs.md
The following reference lists all the CARLA messages available in the ROS bridge.
Any doubts regarding these messages or the CARLA-ROS bridge can be solved in the forum.
<div class="build-buttons"> <!-- Latest release button --> <p> <a href="https://forum.carla.org/c/carla-ecosystem/ros-bridge" target="_blank" class="btn btn-neutral" title="Go to the CARLA Forum, ROS bridge section"> CARLA forum</a> </p> </div>Information shared between ROS and CARLA regarding an actor.
| Field | Type | Description |
|---|---|---|
id | uint32 | The ID of the actor. |
parent_id | uint32 | The ID of the parent actor. `0` if no parent available. |
type | string | The identifier of the blueprint this actor was based on. |
rolename | string | Role assigned to the actor when spawned. |
A list of messages with some basic information for CARLA actors.
| Field | Type | Description |
|---|---|---|
actors | CarlaActorInfo | List of messages with actors' information. |
Data retrieved on a collision event detected by the collision sensor of an actor.
| Field | Type | Description |
|---|---|---|
header | Header | Time stamp and frame ID when the message is published. |
other_actor_id | uint32 | ID of the actor against whom the collision was detected. |
normal_impulse | geometry_msgs/Vector3 | Vector representing resulting impulse from the collision. |
These messages control the simulation while in synchronous, non-passive mode. The constant defined is translated as stepping commands.
| Field | Type | Description |
|---|---|---|
command | int8 | PLAY=0 |
| PAUSE=1 | ||
| STEP_ONCE=2 |
Messages sent to apply a control to a vehicle in both modes, autopilot and manual. These are published in a stack.
| Field | Type | Description |
|---|---|---|
header | Header | Time stamp and frame ID when the message is published. |
throttle | float32 | Scalar value to cotrol the vehicle throttle: [0.0, 1.0] |
steer | float32 | Scalar value to control the vehicle steering direction: [-1.0, 1.0] to control the vehicle steering |
brake | float32 | Scalar value to control the vehicle brakes: [0.0, 1.0] |
hand_brake | bool | If True, the hand brake is enabled. |
reverse | bool | If True, the vehicle will move reverse. |
gear | int32 | Changes between the available gears in a vehicle. |
manual_gear_shift | bool | If True, the gears will be shifted using gear. |
Static information regarding a vehicle, mostly the attributes used to define the vehicle's physics.
| Field | Type | Description |
|---|---|---|
id | uint32 | ID of the vehicle actor. |
type | string | The identifier of the blueprint this vehicle was based on. |
type | string | The identifier of the blueprint this vehicle was based on. |
rolename | string | Role assigned to the vehicle. |
wheels | CarlaEgoVehicleInfoWheel | List of messages with information regarding wheels. |
max_rpm | float32 | Maximum RPM of the vehicle's engine. |
moi | float32 | Moment of inertia of the vehicle's engine. |
damping_rate_full_throttle | float32 | Damping rate when the throttle is at maximum. |
damping_rate_zero_throttle | ||
_clutch_engaged | float32 | Damping rate when the throttle is zero with clutch engaged. |
damping_rate_zero_throttle | ||
_clutch_disengaged | float32 | Damping rate when the throttle is zero with clutch disengaged. |
use_gear_autobox | bool | If True, the vehicle will have an automatic transmission. |
gear_switch_time | float32 | Switching time between gears. |
clutch_strength | float32 | The clutch strength of the vehicle. Measured in Kgm^2/s. |
mass | float32 | The mass of the vehicle measured in Kg. |
drag_coefficient | float32 | Drag coefficient of the vehicle's chassis. |
center_of_mass | geometry_msgs/Vector3 | The center of mass of the vehicle. |
Static information regarding a wheel that will be part of a CarlaEgoVehicleInfo.msg message.
| Field | Type | Description |
|---|---|---|
tire_friction | float32 | A scalar value that indicates the friction of the wheel. |
damping_rate | float32 | The damping rate of the wheel. |
max_steer_angle | float32 | The maximum angle in degrees that the wheel can steer. |
radius | float32 | The radius of the wheel in centimeters. |
max_brake_torque | float32 | The maximum brake torque in Nm. |
max_handbrake_torque | float32 | The maximum handbrake torque in Nm. |
position | geometry_msgs/Vector3 | World position of the wheel. |
Current status of the vehicle as an object in the world.
| Field | Type | Description |
|---|---|---|
header | Header | Time stamp and frame ID when the message is published. |
velocity | float32 | Current speed of the vehicle. |
acceleration | geometry_msgs/Accel | Current acceleration of the vehicle. |
orientation | geometry_msgs/Quaternion | Current orientation of the vehicle. |
control | CarlaEgoVehicleControl | Current control values as reported by CARLA. |
These messages publish lane invasions detected by a lane-invasion sensor attached to a vehicle. The invasions detected in the last step are passed as a list with a constant definition to identify the lane crossed.
| Field | Type | Description |
|---|---|---|
header | header | Time stamp and frame ID when the message is published. |
crossed_lane_markings | int32[] | LANE_MARKING_OTHER=0 |
| LANE_MARKING_BROKEN=1 | ||
| LANE_MARKING_SOLID=2 |
Details for a test scenario.
| Field | Type | Description |
|---|---|---|
name | string | Name of the scenario. |
scenario_file | string | Test file for the scenario. |
destination | geometry_msgs/Pose | Goal location of the scenario. |
target_speed | float64 | Desired speed during the scenario. |
List of test scenarios to run in ScenarioRunner.
| Field | Type | Description |
|---|---|---|
scenarios | CarlaScenario[] | List of scenarios. |
Current state of the ScenarioRunner. It is managed using a constant.
| Field | Type | Description |
|---|---|---|
status | uint8 | Current state of the scenario as an enum: |
| STOPPED=0 | ||
| STARTING=1 | ||
| RUNNING=2 | ||
| SHUTTINGDOWN=3 | ||
| ERROR=4 |
Current world settings of the simulation.
| Field | Type | Description |
|---|---|---|
frame | uint64 | Current frame number. |
fixed_delta_seconds | float32 | Simulation time between last and current step. |
synchronous_mode | bool | If True, synchronous mode is enabled. |
synchronous_mode_running | bool | True when the simulation is running. False when it is paused. |
Constant definition regarding the state of a traffic light.
| Field | Type | Description |
|---|---|---|
id | uint32 | ID of the traffic light actor. |
state | uint8 | RED=0 |
| YELLOW=1 | ||
| GREEN=2 | ||
| OFF=3 | ||
| UNKNOWN=4 |
List of traffic lights with their status.
| Field | Type | Description |
|---|---|---|
scenarios | CarlaTrafficLightStatus[] | A list of messages summarizing traffic light states. |
Information needed to apply a movement controller to a walker.
| Field | Type | Description |
|---|---|---|
direction | geometry_msgs/Vector3 | Vector that controls the direction of the walker. |
speed | float32 | A scalar value to control the walker's speed. |
jump | bool | If True, the walker will jump. |
Data contained in a waypoint object.
| Field | Type | Description |
|---|---|---|
road_id | int32 | OpenDRIVE road's id. |
section_id | int32 | OpenDRIVE section's id, based on the order that they are originally defined. |
lane_id | int32 | OpenDRIVE lane's id, this value can be positive or negative which represents the direction of the current lane with respect to the road. |
is_junction | bool | True, if the current Waypoint is on a junction as defined by OpenDRIVE. |
is_junction | geometry_msgs/Pose | True when the simulation is running. False when it is paused. |
Information about the current CARLA map.
| Field | Type | Description |
|---|---|---|
map_name | string | Name of the CARLA map loaded in the current world. |
opendrive | string | .xodr OpenDRIVE file of the current map as a string. |
Current time, speed and acceleration values of the vehicle. Used by the controller. It is part of a Carla_Ackermann_Control.EgoVehicleControlInfo.msg message.
| Field | Type | Description |
|---|---|---|
time_sec | float32 | Current time when the controller is applied. |
speed | float32 | Current speed applied by the controller. |
speed_abs | float32 | Speed as an absolute value. |
accel | float32 | Current acceleration applied by the controller. |
Current values within an Ackermann controller. These messages are useful for debugging.
| Field | Type | Description |
|---|---|---|
header | header | Time stamp and frame ID when the message is published. |
restrictions | EgoVehicleControlMaxima | Limits to the controller values. |
target | EgoVehicleControlTarget | Limits to the controller values. |
current | EgoVehicleControlCurrent | Limits to the controller values. |
status | EgoVehicleControlStatus | Limits to the controller values. |
output | CarlaEgoVehicleControl | Limits to the controller values. |
Controller restrictions (limit values). It is part of a Carla_Ackermann_Control.EgoVehicleControlInfo.msg message.
| Field | Type | Description |
|---|---|---|
max_steering_angle | float32 | Max. steering angle for a vehicle. |
max_speed | float32 | Max. speed for a vehicle. |
max_accel | float32 | Max. acceleration for a vehicle. |
max_decel | float32 | Max. deceleration for a vehicle. Default: 8m/s^2 |
min_accel | float32 | Min. acceleration for a vehicle. When the Ackermann taget accel. exceeds this value, the input accel. is controlled. |
max_pedal | float32 | Min. pedal. |
Current status of the ego vehicle controller. It is part of a Carla_Ackermann_Control.EgoVehicleControlInfo.msg message.
| Field | Type | Description |
|---|---|---|
status | string | Current control status. |
speed_control_activation_count | uint8 | Speed controller. |
speed_control_accel_delta | float32 | Speed controller. |
speed_control_accel_target | float32 | Speed controller. |
accel_control_pedal_delta | float32 | Acceleration controller. |
accel_control_pedal_target | float32 | Acceleration controller. |
brake_upper_border | float32 | Borders for lay off pedal. |
throttle_lower_border | float32 | Borders for lay off pedal. |
Target values of the ego vehicle controller. It is part of a Carla_Ackermann_Control.EgoVehicleControlInfo.msg message.
| Field | Type | Description |
|---|---|---|
steering_angle | float32 | Target steering angle for the controller. |
speed | float32 | Target speed for the controller. |
speed_abs | float32 | Speed as an absolute value. |
accel | float32 | Target acceleration for the controller. |
jerk | float32 | Target jerk for the controller. |