The reference Carla client carla_example_ego_vehicle can be used to spawn an ego vehicle (role-name: "ego_vehicle") with the following sensors attached to it.
- GNSS
- LIDAR
- Cameras (one front-camera + one camera for visualization in carla_ros_manual_control)
- Collision Sensor
- Lane Invasion Sensor
Info: To be able to use carla_manual_control a camera with role-name 'view' and resolution of 800x600 is required.
If no specific position is set, the ego vehicle is spawned at a random position.
It is possible to (re)spawn the ego vehicle at the specific location by publishing to /initialpose.
The preferred way of doing that is using RVIZ:
Selecting a Pose with '2D Pose Estimate' will delete the current ego_vehicle and respawn it at the specified position.
To setup your own ego vehicle with sensors, follow a similar approach as in carla_example_ego_vehicle by subclassing from CarlaEgoVehicleBase.
Define sensors with their attributes as described in the Carla Documentation about Cameras and Sensors.
The format is a list of dictionaries. One dictionary has the values as follows:
{
'type': '<SENSOR-TYPE>',
'role_name': '<NAME>',
'x': 0.0, 'y': 0.0, 'z': 0.0, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0, # pose of the sensor, relative to the vehicle
<ADDITIONAL-SENSOR-ATTRIBUTES>
}