ROS2 Native Example

This example demonstrates how to utilize the ROS 2 native interface in CARLA.

Prerequisites

To run this example, ensure docker is installed in your system, which is used to launch an instance of rviz for visualizing sensor data.

Usage

Step 1: Start the CARLA Simulator with ROS2 enabled

Launch the CARLA simulator with the ROS 2 integration enabled:

./CarlaUnreal.sh --ros2

Step 2: Run the ROS2 Example

Execute the ROS 2 example script:

python3 ros2_native.py --file stack.json

• The stack.json file defines the sensor configuration.
• You can edit this file to adjust the sensor setup according to your requirements.

Step 3: Run RViz to Visualize Sensor Data

Start rviz to visualize the sensor output from CARLA:

[!NOTE] Docker must be installed on your system to complete this step.

./run_rviz.sh