ROS bridge installation

The official documentation only supports ROS 2 Foxy. However, forks of the ros-bridge repository are available that support the latest CARLA version (0.9.15) and ROS 2 Humble.

1. Install ROS 2 Humble following the official instructions. Complete some suggested tutorials to verify the installation.

2. Install ros-bridge from the following fork (instructions in the README mirror those in the official documentation):

   https://github.com/ttgamage/carla-ros-bridge

The installation of both ROS Humble and the CARLA ROS bridge fork should proceed smoothly. To validate the installation, follow the instructions in https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_installation_ros2/#run-the-ros-bridge before testing the provided ROS packages.

Key packages that should be functional include:

• https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_spawn_objects/
• https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_manual_control/
• https://carla.readthedocs.io/projects/ros-bridge/en/latest/rviz_plugin/

The video below demonstrates starting a simulation, launching carla_ros_bridge, spawning a vehicle with carla_spawn_objects, enabling manual control via carla_manual_control, and visualizing sensors using rviz.