├── .github └── workflows │ └── ci.yml ├── .gitignore ├── .gitmodules ├── .pylintrc ├── .readthedocs.yml ├── CHANGELOG.md ├── LICENSE ├── Makefile ├── README.md ├── carla_ackermann_control ├── CMakeLists.txt ├── README.md ├── config │ ├── AckermannControl.perspective │ ├── AckermannPlot.perspective │ ├── EgoVehicleControlParameter.cfg │ ├── settings.ros1.yaml │ └── settings.yaml ├── launch │ ├── carla_ackermann_control.launch │ ├── carla_ackermann_control.launch.py │ ├── carla_ros_bridge_with_ackermann_control.launch │ └── carla_ros_bridge_with_ackermann_control.launch.py ├── package.xml ├── resource │ └── carla_ackermann_control ├── setup.cfg ├── setup.py └── src │ └── carla_ackermann_control │ ├── __init__.py │ ├── carla_ackermann_control_node.py │ └── carla_control_physics.py ├── carla_ackermann_msgs ├── CMakeLists.txt ├── msg │ ├── EgoVehicleControlCurrent.msg │ ├── EgoVehicleControlInfo.msg │ ├── EgoVehicleControlMaxima.msg │ ├── EgoVehicleControlStatus.msg │ └── EgoVehicleControlTarget.msg └── package.xml ├── carla_ad_agent ├── CMakeLists.txt ├── README.md ├── launch │ ├── carla_ad_agent.launch │ └── carla_ad_agent.launch.py ├── package.xml ├── resource │ └── carla_ad_agent ├── setup.cfg ├── setup.py └── src │ └── carla_ad_agent │ ├── __init__.py │ ├── ad_agent.py │ ├── agent.py │ ├── local_planner.py │ ├── misc.py │ └── vehicle_pid_controller.py ├── carla_ad_demo ├── CMakeLists.txt ├── README.md ├── config │ ├── FollowLeadingVehicle.xosc │ ├── carla_ad_demo.rviz │ └── carla_ad_demo_ros2.rviz ├── launch │ ├── carla_ad_demo.launch │ ├── carla_ad_demo.launch.py │ ├── carla_ad_demo_with_scenario.launch │ └── carla_ad_demo_with_scenario.launch.py ├── package.xml └── resource │ └── carla_ad_demo ├── carla_common ├── CMakeLists.txt ├── package.xml ├── resource │ └── carla_common ├── setup.cfg ├── setup.py └── src │ └── carla_common │ ├── __init__.py │ └── transforms.py ├── carla_manual_control ├── CMakeLists.txt ├── README.md ├── launch │ ├── carla_manual_control.launch │ └── carla_manual_control.launch.py ├── package.xml ├── resource │ └── carla_manual_control ├── setup.cfg ├── setup.py └── src │ └── carla_manual_control │ ├── __init__.py │ └── carla_manual_control.py ├── carla_ros_bridge ├── CMakeLists.txt ├── launch │ ├── carla_ros_bridge.launch │ ├── carla_ros_bridge.launch.py │ ├── carla_ros_bridge_with_example_ego_vehicle.launch │ └── carla_ros_bridge_with_example_ego_vehicle.launch.py ├── package.xml ├── resource │ └── carla_ros_bridge ├── setup.cfg ├── setup.py ├── src │ └── carla_ros_bridge │ │ ├── CARLA_VERSION │ │ ├── __init__.py │ │ ├── actor.py │ │ ├── actor_control.py │ │ ├── actor_factory.py │ │ ├── actor_list_sensor.py │ │ ├── bridge.py │ │ ├── camera.py │ │ ├── carla_status_publisher.py │ │ ├── collision_sensor.py │ │ ├── debug_helper.py │ │ ├── ego_vehicle.py │ │ ├── gnss.py │ │ ├── imu.py │ │ ├── lane_invasion_sensor.py │ │ ├── lidar.py │ │ ├── marker_sensor.py │ │ ├── object_sensor.py │ │ ├── odom_sensor.py │ │ ├── opendrive_sensor.py │ │ ├── pseudo_actor.py │ │ ├── radar.py │ │ ├── rss_sensor.py │ │ ├── sensor.py │ │ ├── spectator.py │ │ ├── speedometer_sensor.py │ │ ├── tf_sensor.py │ │ ├── traffic.py │ │ ├── traffic_lights_sensor.py │ │ ├── traffic_participant.py │ │ ├── vehicle.py │ │ ├── walker.py │ │ └── world_info.py └── test │ ├── ros_bridge_client.py │ ├── ros_bridge_client.test │ ├── ros_bridge_client_ros2_test.py │ ├── settings.yaml │ └── test_objects.json ├── carla_ros_scenario_runner ├── CMakeLists.txt ├── README.md ├── launch │ ├── carla_ros_scenario_runner.launch │ └── carla_ros_scenario_runner.launch.py ├── package.xml ├── resource │ └── carla_ros_scenario_runner ├── setup.cfg ├── setup.py └── src │ └── carla_ros_scenario_runner │ ├── __init__.py │ ├── application_runner.py │ ├── carla_ros_scenario_runner_node.py │ ├── ros_vehicle_control.py │ └── scenario_runner_runner.py ├── carla_ros_scenario_runner_types ├── CMakeLists.txt ├── msg │ ├── CarlaScenario.msg │ ├── CarlaScenarioList.msg │ └── CarlaScenarioRunnerStatus.msg ├── package.xml └── srv │ └── ExecuteScenario.srv ├── carla_spawn_objects ├── CMakeLists.txt ├── README.md ├── config │ └── objects.json ├── launch │ ├── carla_example_ego_vehicle.launch │ ├── carla_example_ego_vehicle.launch.py │ ├── carla_spawn_objects.launch │ ├── carla_spawn_objects.launch.py │ ├── set_initial_pose.launch │ └── set_initial_pose.launch.py ├── package.xml ├── resource │ └── carla_spawn_objects ├── setup.cfg ├── setup.py └── src │ └── carla_spawn_objects │ ├── __init__.py │ ├── carla_spawn_objects.py │ └── set_initial_pose.py ├── carla_twist_to_control ├── CMakeLists.txt ├── README.md ├── launch │ ├── carla_twist_to_control.launch │ └── carla_twist_to_control.launch.py ├── package.xml ├── resource │ └── carla_twist_to_control ├── setup.cfg ├── setup.py └── src │ └── carla_twist_to_control │ ├── __init__.py │ └── carla_twist_to_control.py ├── carla_walker_agent ├── CMakeLists.txt ├── README.md ├── launch │ ├── carla_walker_agent.launch │ └── carla_walker_agent.launch.py ├── package.xml ├── resource │ └── carla_walker_agent ├── setup.cfg ├── setup.py └── src │ └── carla_walker_agent │ ├── __init__.py │ └── carla_walker_agent.py ├── carla_waypoint_publisher ├── CMakeLists.txt ├── README.md ├── launch │ ├── carla_waypoint_publisher.launch │ └── carla_waypoint_publisher.launch.py ├── package.xml ├── resource │ └── carla_waypoint_publisher ├── setup.cfg ├── setup.py └── src │ └── carla_waypoint_publisher │ ├── __init__.py │ └── carla_waypoint_publisher.py ├── carla_waypoint_types ├── CMakeLists.txt ├── msg │ └── CarlaWaypoint.msg ├── package.xml └── srv │ ├── GetActorWaypoint.srv │ └── GetWaypoint.srv ├── docker ├── Dockerfile ├── build.sh ├── content │ └── ros_entrypoint.sh └── run.sh ├── docs ├── carla_ackermann_control.md ├── carla_ad_agent.md ├── carla_ad_demo.md ├── carla_manual_control.md ├── carla_ros_scenario_runner.md ├── carla_spawn_objects.md ├── carla_twist_to_control.md ├── carla_waypoint.md ├── extra.css ├── images │ ├── ad_demo.dot │ ├── ad_demo.png │ ├── depth_cloud_and_lidar.png │ ├── docs_version_panel.jpg │ ├── ros_rviz.png │ ├── rqt_plugin.png │ ├── rviz_carla_default.png │ ├── rviz_carla_plugin.png │ └── rviz_set_start_goal.png ├── index.md ├── pcl_recorder.md ├── requirements.txt ├── ros_compatibility.md ├── ros_installation_ros1.md ├── ros_installation_ros2.md ├── ros_msgs.md ├── ros_sensors.md ├── rqt_plugin.md ├── run_ros.md └── rviz_plugin.md ├── install_dependencies.sh ├── mkdocs.yml ├── packaging ├── .gitignore ├── build-deb.sh └── debian │ ├── changelog │ ├── compat │ ├── control │ ├── copyright │ ├── rules │ └── source │ └── format ├── pcl_recorder ├── CMakeLists.txt ├── README.md ├── include │ ├── PclRecorder.h │ └── PclRecorderROS2.h ├── launch │ ├── pcl_recorder.launch │ └── pcl_recorder.launch.py ├── package.xml └── src │ ├── PclRecorder.cpp │ ├── PclRecorderROS2.cpp │ ├── main.cpp │ └── mainROS2.cpp ├── requirements.txt ├── ros_compatibility ├── CMakeLists.txt ├── README.md ├── package.xml ├── resource │ └── ros_compatibility ├── setup.cfg ├── setup.py └── src │ └── ros_compatibility │ ├── __init__.py │ ├── callback_groups.py │ ├── core.py │ ├── exceptions.py │ ├── executors.py │ ├── logging.py │ ├── node.py │ └── qos.py ├── rqt_carla_control ├── CMakeLists.txt ├── README.md ├── package.xml ├── plugin.xml ├── resource │ ├── CarlaControl.ui │ ├── pause.png │ ├── play.png │ ├── rqt_carla_control │ └── step_once.png ├── scripts │ └── rqt_carla_control ├── setup.cfg ├── setup.py └── src │ └── rqt_carla_control │ ├── __init__.py │ └── rqt_carla_control.py └── rviz_carla_plugin ├── CMakeLists.txt ├── README.md ├── icons ├── classes │ └── CarlaControl.png ├── pause.png ├── play.png └── step_once.png ├── package.xml ├── plugin_description.xml ├── plugin_description_ros2.xml ├── rviz_carla_plugin.qrc └── src ├── carla_control_panel.cpp ├── carla_control_panel.h ├── carla_control_panel_ROS2.cpp ├── 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