Add compatibility with Carla 0.10.0

[xmfcx]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

https://carla.org/2024/12/19/release-0.10.0/

Autoware should work with the latest UE5-based Carla simulation. The new Carla 0.10.0 introduces breaking changes and enhancements tied to Unreal Engine 5, which may impact sensor simulation, environment dynamics, and integration APIs used by Autoware.

Purpose

To maintain compatibility with the Carla simulation platform and leverage the improved fidelity and features offered in the UE5-based Carla 0.10.0 release. This will ensure Autoware continues to support simulation workflows for perception, planning, and control testing.

Definition of done

• Create a python carla script to spawn the vehicle and minimal sensors
  • https://carla.readthedocs.io/en/latest/core_actors/#spawning
  • https://carla.readthedocs.io/en/latest/core_sensors/#spawning
• Autoware launches successfully in a Carla 0.10.0 simulation environment.
• Core modules (localization, perception, planning, control) are tested and verified to operate correctly.
• Carla-ROS bridge integration is updated and documented.
• A guide for setting up Carla 0.10.0 with Autoware is added to the documentation.

[xmfcx]

So far I've created some instructions for Running Carla Sim 0.10.0 with low VRAM on docker

[jerry73204]

Hey @xmfcx, our team is currently working on autoware_carla_launch. I believe it is related to your work.

[xmfcx]

Hi @jerry73204 thanks for the heads up!

Your implementation is with the UE4 version of the Carla 0.9.14 with the Zenoh bridge.

I'm aiming to connect Autoware without using a bridge. The UE5 version of Carla 0.10.0 has native DDS support. This should eliminate any latency that could arise from a bridge.

Are you planning to support Carla 0.10.0 by eliminating the use of a bridge too?

[jerry73204]

Dear @xmfcx,

I think that's doable based on our architecture. The consideration is that our CARLA bridge support multi-vehicle use cases. I believe using the native support for CALRA could reduce the overheads to some degree. We can look into the design further and have a feedback.

[chishengshih]

Here are the updates:

• Integrating CARLA 0.10 with Scenario Running 0.9.x and success: CARLA requires 16GB memory to run and may lead to software CARLA when there are not enough memory. Please refer to this slide for the details.

• Integrating CARLA 0.10 with Autoware successfully: the middleware can be DDS or rmw_zenoh. To use rmw_zenoh, the information can be found here: https://autowarefoundation.github.io/LSA-reference-design-docs/pr-5/software-configuration/

[chishengshih]

Both CARLA 0.10 and Scenario Evaluator use OpenScenario to describe the use scenarios (Slide). UseDefinedAction can be used to link these two software: CARLA allows user defined python script to be triggered by the variable; Scenario Evaluator terminates: success or fail, defined by the variable. However, Scenario evaluator uses the subset of OpenScenario 1.2 and CARLA 0.10 uses the subset of OpenScenario 2.0. The difference between them needs to be explored.

[m-zain-khawaja]

Instructions:

For info: @xmfcx @Goldob

Could @chishengshih @jerry73204 you please share detailed instructions on how to bridge Autoware with CARLA 0.10.0 with step-by-step guide on setting it up. Thanks

[jerry73204]

Hi @m-zain-khawaja. I would be glad to share the integration guide. We're still fixing carla_autoware_launch that bridges CALRA 0.9.14 to Autoware to support CARLA 0.10. I'll share that once it's ready.

[jerry73204]

Dear @xmfcx,

I studied the CARLA 0.10.0 ROS topics. You can see my findings here. I can join the simulation WG meeting this Wednesday to present this.

[Goldob]

@jerry73204

Thank you for sharing the document and for the explanations.

I can join the simulation WG meeting this Wednesday to present this.

Yes, please. I look forward to getting more familiar with the results of your work.

We're still fixing carla_autoware_launch that bridges CALRA 0.9.14 to Autoware to support CARLA 0.10. I'll share that once it's ready.

I have two questions regarding that point:

1. Does that mean you use a bridge with CARLA 0.10, and not native ROS 2 communication?
2. Can you estimate when that will be available?