Autoware and carlaue4 cannot co-simulation

[yonglei123]

I am using the autoware_carla_interface on my local computer running Ubuntu 22.04 and ROS 2 Humble. Autoware.universe (main branch) can run simulations normally with AWSIM, but I have been unable to get it to work with CARLA (UE4 version 0.9.15) for co-simulation. My steps are as follows:

Terminal 1: Run ./CarlaUE4.sh -prefernvidia -quality-level=Low -RenderOffScreen

Terminal 2: Run ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01

After entering the RViz interface in Autoware, the initial position of the ego vehicle never updates. Clicking "2D Pose Estimate" and "2D Pose Goal" does not update the vehicle's position or generate a planned trajectory.

The complete launch.log for Autoware is provided below. Could someone please help me identify the issue? Thank you very much.
autoware_launch.log

[maxime-clem]

Please make sure you have this commit in your branch of autoware_universe : autowarefoundation/autoware_universe@c55c4d0
It fixed some recent issues.

[yonglei123]

Please make sure you have this commit in your branch of autoware_universe : autowarefoundation/autoware_universe@c55c4d0 It fixed some recent issues.
I hope this message finds you well. Thank you for your previous response and guidance.
I've confirmed that the code from the commit you mentioned is included in my branch. The issue has progressed—the vehicle can now successfully update its initial position, and after setting a "Goal Pose", planning is also completed successfully. However, the "Auto" button in the Autoware RVIZ interface keeps blinking. I’ve attached a short screen recording and the corresponding Autoware logs for your reference.
launch.log

Uploading Screencast 2025-09-26 08:01:50.mp4…

[yonglei123]

Screencast.2025-09-26.08.01.50.mp4

[maxime-clem]

Please try this PR to see if it fixes the issue for you: autowarefoundation/autoware_universe#11413

[yonglei123]

Please try this PR to see if it fixes the issue for you: autowarefoundation/autoware_universe#11413

Thank you so much for sharing the PR! I really appreciate your continuous support.

This morning, I tried commenting out the lidar replay module, and the situation did improve somewhat. However, the "MRM behavior" still switches states occasionally at a low frequency.

Additionally, I'd like to ask about an issue we're encountering with traffic light detection. We are not seeing any traffic lights being detected in the /perception/traffic_light_recognition/traffic_light/debug/rois topic. As a result, the vehicle stops at traffic lights even when the light is green. Could you kindly provide some insight into why the traffic lights might not be detected in the image?

Thank you again for your time and help!

[yonglei123]

Please try this PR to see if it fixes the issue for you: autowarefoundation/autoware_universe#11413

Thank you so much for sharing the PR! I really appreciate your continuous support.

This morning, I tried commenting out the lidar replay module, and the situation did improve somewhat. However, the "MRM behavior" still switches states occasionally at a low frequency.

Additionally, I'd like to ask about an issue we're encountering with traffic light detection. We are not seeing any traffic lights being detected in the /perception/traffic_light_recognition/traffic_light/debug/rois topic. As a result, the vehicle stops at traffic lights even when the light is green. Could you kindly provide some insight into why the traffic lights might not be detected in the image?

Thank you again for your time and help!

It has come to my attention that the image output format differs between the simulators: AWSIM outputs in bgr8, while CARLA UE4 outputs in bgra8. We suspect that this discrepancy might be the reason why traffic lights are not being detected in the CARLA UE4 image stream.