Description
Environment:
Ubuntu 22.04
ROS 2 Humble
Carla 0.9.x (specify your exact version if known)
colcon build completes without any issues
Running Town05 map in Carla
I’m using Ubuntu 22.04 and ROS 2 Humble, and there were no issues during colcon build. I launched Carla and successfully connected carla-ros-bridge, but no vehicle is spawning. I used the standalone Carla simulator to find spawn coordinates in Town05 (at the red circle), then closed it and tried to spawn the vehicle through carla-ros-bridge, but nothing happened. In terminal #3, after [INFO] [carla_spawn_objects-1]: process started with pid [2471782], nothing else appears. Also, when I run ros2 run carla_manual_control carla_manual_control, only a black screen shows with no visuals, even though pygame starts correctly. What could be the issue and how can I fix it? Thank you.
term#1
imlab105@imlab105-TRX40-AORUS-PRO-WIFI:~/carla_simulator$ ./CarlaUE4.sh -prefernvidia
4.26.2-0+++UE4+Release-4.26 522 0
Disabling core dumps.
term#2
`mlab105@imlab105-TRX40-AORUS-PRO-WIFI:~/carla-ros-bridge/colcon_ws$ ros2 launch carla_ros_bridge carla_ros_bridge.launch.py
[INFO] [launch]: All log files can be found below /home/imlab105/.ros/log/2025-04-09-17-14-06-783974-imlab105-TRX40-AORUS-PRO-WIFI-2471259
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [bridge-1]: process started with pid [2471260]
[bridge-1] [INFO] [1744186448.227847907] [carla_ros_bridge]: Trying to connect to localhost:2000
[bridge-1] [INFO] [1744186448.474041075] [carla_ros_bridge]: Loading town 'Town05' (previous: 'Carla/Maps/Town05').
[bridge-1] [INFO] [1744186450.905015279] [carla_ros_bridge]: synchronous_mode: True
[bridge-1] [INFO] [1744186450.905528447] [carla_ros_bridge]: fixed_delta_seconds: 0.05
[bridge-1] [INFO] [1744186450.973341276] [carla_ros_bridge]: Parameters:
[bridge-1] [INFO] [1744186450.973945639] [carla_ros_bridge]: host: localhost
[bridge-1] [INFO] [1744186450.974500968] [carla_ros_bridge]: port: 2000
[bridge-1] [INFO] [1744186450.975043512] [carla_ros_bridge]: timeout: 2
[bridge-1] [INFO] [1744186450.975599050] [carla_ros_bridge]: passive: False
[bridge-1] [INFO] [1744186450.976139730] [carla_ros_bridge]: synchronous_mode: True
[bridge-1] [INFO] [1744186450.976690740] [carla_ros_bridge]: synchronous_mode_wait_for_vehicle_control_command: False
[bridge-1] [INFO] [1744186450.977252441] [carla_ros_bridge]: fixed_delta_seconds: 0.05
[bridge-1] [INFO] [1744186450.977796658] [carla_ros_bridge]: register_all_sensors: True
[bridge-1] [INFO] [1744186450.978343160] [carla_ros_bridge]: town: Town05
[bridge-1] [INFO] [1744186450.978925240] [carla_ros_bridge]: ego_vehicle: {'role_name':
'heroego_vehiclehero0hero1hero2hero3hero4hero5hero6hero7hero8hero9'}
[bridge-1] [INFO] [1744186451.127942514] [carla_ros_bridge]: Created Traffic(id=256)`
term3#
`imlab105@imlab105-TRX40-AORUS-PRO-WIFI:~/carla-ros-bridge/colcon_ws$ ros2 launch carla_spawn_objects carla_spawn_objects.launch.py objects_definition_file:=/home/imlab105/carla-ros-bridge/colcon_ws/src/carla_ros/carla_spawn_objects/config/objects.json
[INFO] [launch]: All log files can be found below /home/imlab105/.ros/log/2025-04-09-17-15-20-523912-imlab105-TRX40-AORUS-PRO-WIFI-2471771
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [carla_spawn_objects-1]: process started with pid [2471782]
`
objects.json
{ "objects": [ { "type": "sensor.pseudo.traffic_lights", "id": "traffic_lights" }, { "type": "sensor.pseudo.objects", "id": "objects" }, { "type": "sensor.pseudo.actor_list", "id": "actor_list" }, { "type": "sensor.pseudo.markers", "id": "markers" }, { "type": "sensor.pseudo.opendrive_map", "id": "map" }, { "type": "vehicle.tesla.model3", "id": "ego_vehicle", "role_name":"hero", "spawn_point": { "x": 85.0, "y": -4.0, "z": 0.3, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "sensors": [ { "type": "sensor.camera.rgb", "id": "rgb_front", "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, "image_size_x": 800, "image_size_y": 600, "fov": 90.0 }, { "type": "sensor.camera.rgb", "id": "rgb_view", "spawn_point": {"x": -4.5, "y": 0.0, "z": 2.8, "roll": 0.0, "pitch": 20.0, "yaw": 0.0}, "image_size_x": 800, "image_size_y": 600, "fov": 90.0, "attached_objects": [ { "type": "actor.pseudo.control", "id": "control" } ] }, { "type": "sensor.lidar.ray_cast", "id": "lidar", "spawn_point": {"x": 0.0, "y": 0.0, "z": 2.4, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, "range": 50, "channels": 32, "points_per_second": 320000, "upper_fov": 2.0, "lower_fov": -26.8, "rotation_frequency": 20, "noise_stddev": 0.0 }, { "type": "sensor.lidar.ray_cast_semantic", "id": "semantic_lidar", "spawn_point": {"x": 0.0, "y": 0.0, "z": 2.4, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, "range": 50, "channels": 32, "points_per_second": 320000, "upper_fov": 2.0, "lower_fov": -26.8, "rotation_frequency": 20 }, { "type": "sensor.other.radar", "id": "radar_front", "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, "horizontal_fov": 30.0, "vertical_fov": 10.0, "points_per_second": 1500, "range": 100.0 }, { "type": "sensor.camera.semantic_segmentation", "id": "semantic_segmentation_front", "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, "fov": 90.0, "image_size_x": 400, "image_size_y": 70 }, { "type": "sensor.camera.depth", "id": "depth_front", "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, "fov": 90.0, "image_size_x": 400, "image_size_y": 70 }, { "type": "sensor.camera.dvs", "id": "dvs_front", "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, "fov": 90.0, "image_size_x": 400, "image_size_y": 70, "positive_threshold": 0.3, "negative_threshold": 0.3, "sigma_positive_threshold": 0.0, "sigma_negative_threshold": 0.0, "use_log": true, "log_eps": 0.001 }, { "type": "sensor.other.gnss", "id": "gnss", "spawn_point": {"x": 1.0, "y": 0.0, "z": 2.0}, "noise_alt_stddev": 0.0, "noise_lat_stddev": 0.0, "noise_lon_stddev": 0.0, "noise_alt_bias": 0.0, "noise_lat_bias": 0.0, "noise_lon_bias": 0.0 }, { "type": "sensor.other.imu", "id": "imu", "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, "noise_accel_stddev_x": 0.0, "noise_accel_stddev_y": 0.0, "noise_accel_stddev_z": 0.0, "noise_gyro_stddev_x": 0.0, "noise_gyro_stddev_y": 0.0, "noise_gyro_stddev_z": 0.0, "noise_gyro_bias_x": 0.0, "noise_gyro_bias_y": 0.0, "noise_gyro_bias_z": 0.0 }, { "type": "sensor.other.collision", "id": "collision", "spawn_point": {"x": 0.0, "y": 0.0, "z": 0.0} }, { "type": "sensor.other.lane_invasion", "id": "lane_invasion", "spawn_point": {"x": 0.0, "y": 0.0, "z": 0.0} }, { "type": "sensor.pseudo.tf", "id": "tf" }, { "type": "sensor.pseudo.objects", "id": "objects" }, { "type": "sensor.pseudo.odom", "id": "odometry" }, { "type": "sensor.pseudo.speedometer", "id": "speedometer" }, { "type": "actor.pseudo.control", "id": "control" } ] } ] }
