ROS Bridge Sensors

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CARLA server is responsible for publishing the Clock (/clock) based on the simulation time. Clock will be updated every simulation frame.

Available Sensors

RGB camera

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image	sensor_msgs/Image
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info	sensor_msgs/CameraInfo

Depth camera

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image	sensor_msgs/Image
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info	sensor_msgs/CameraInfo

Semantic segmentation camera

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image	sensor_msgs/Image
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info	sensor_msgs/CameraInfo

Instance segmentation camera

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image	sensor_msgs/Image
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info	sensor_msgs/CameraInfo

Normals camera

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image	sensor_msgs/Image
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info	sensor_msgs/CameraInfo

Optical flow camera

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image	sensor_msgs/Image
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info	sensor_msgs/CameraInfo

DVS camera

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/events	sensor_msgs/PointCloud2
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image	sensor_msgs/Image
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info	sensor_msgs/CameraInfo

Lidar

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	sensor_msgs/PointCloud2

Semantic lidar

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	sensor_msgs/PointCloud2

Radar

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	sensor_msgs/PointCloud2

IMU

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	sensor_msgs/Imu

GNSS

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	sensor_msgs/NavSatFix

Lane Invasion Sensor

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	carla_msgs/CarlaLaneInvasionEvent