CARLA simulator

CARLA is a famous open-source simulator for the autonomous driving research. Now there is no official support to Autoware.universe, but some projects from communities support it. The document is to list these projects for anyone who wants to run Autoware with Carla. You can report issues to each project if there is any problem.

Project lists (In alphabetical order)

autoware_carla_interface

Autoware ROS package to enables communication between Autoware and CARLA simulator for autonomous driving simulation. It is integrated in autoware.universe and actively maintained to stay compatible with the latest Autoware updates.

• Package Link and Tutorial: autoware_carla_interface.

carla_autoware_bridge

An addition package to carla_ros_bridge to connect CARLA simulator to Autoware Universe software.

• Project Link: carla_autoware_bridge
• Tutorial: https://github.com/Robotics010/carla_autoware_bridge/blob/master/getting-started.md

open_planner

Integrated open source planner and related tools for autonomous navigation of autonomous vehicle and mobile robots

• Project Link: open_planner
• Tutorial: https://github.com/ZATiTech/open_planner/blob/humble/op_carla_bridge/README.md

zenoh_carla_bridge

The project is mainly for controlling multiple vehicles in Carla. It uses Zenoh to bridge the Autoware and Carla and is able to distinguish different messages for different vehicles. Feel free to ask questions and report issues to autoware_carla_launch.

• Project Link:
  • autoware_carla_launch: The integrated environment to run the bridge and Autoware easily.
  • zenoh_carla_bridge: The bridge implementation.
• Tutorial:
  • The documentation of autoware_carla_launch: The official documentation, including installation and several usage scenarios.
  • Running Multiple Autoware-Powered Vehicles in Carla using Zenoh: The introduction on Autoware Tech Blog.