ROS Bridge Sensors

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Available Sensors

RGB camera

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image	sensor_msgs/Image
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info	sensor_msgs/CameraInfo

Depth camera

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image	sensor_msgs/Image
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info	sensor_msgs/CameraInfo

Semantic segmentation camera

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image	sensor_msgs/Image
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info	sensor_msgs/CameraInfo

DVS camera

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/events	sensor_msgs/PointCloud2
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/image	sensor_msgs/Image
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/camera_info	sensor_msgs/CameraInfo

Lidar

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	sensor_msgs/PointCloud2

Semantic lidar

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	sensor_msgs/PointCloud2

Radar

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	sensor_msgs/PointCloud2

IMU

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	sensor_msgs/Imu

GNSS

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	sensor_msgs/NavSatFix

Collision Sensor

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	carla_msgs/CarlaCollisionEvent

Lane Invasion Sensor

Topic	Type
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	carla_msgs/CarlaLaneInvasionEvent

Pseudo sensors

TF Sensor

The tf data for the ego vehicle is published when this pseudo sensor is spawned.

Note: Sensors publish the tf data when the measurement is done. The child_frame_id corresponds with the prefix of the sensor topics.

Odometry Sensor

Topic	Type	Description
/carla/<PARENT ROLE NAME>/<SENSOR ROLE NAME>	nav_msgs/Odometry	Odometry of the parent actor.

Speedometer Sensor

Topic	Type	Description
/carla/<PARENT ROLE NAME>/<SENSOR ROLE NAME>	std_msgs/Float32	Speed of the parent actor. Units: m/s.

Map Sensor

Topic	Type	Description
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	std_msgs/String	Provides the OpenDRIVE map as a string on a latched topic.

Object Sensor

Topic	Type	Description
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	derived_object_msgs/ObjectArray	Publishes all vehicles and walker. If attached to a parent, the parent is not contained.

Marker Sensor

Topic	Type	Description
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	visualization_msgs/Marker	Visualization of vehicles and walkers

Traffic Lights Sensor

Topic	Type	Description
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/status	carla_msgs/CarlaTrafficLightStatusList	List of all traffic lights with their status.
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/info	carla_msgs/CarlaTrafficLightInfoList	Static information for all traffic lights (e.g. position).

Actor List Sensor

Topic	Type	Description
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>	carla_msgs/CarlaActorList	List of all CARLA actors.

Actor Control Sensor

This pseudo-sensor allows to control the position and velocity of the actor it is attached to (e.g. an ego_vehicle) by publishing pose and velocity within Pose and Twist datatypes. CAUTION: This control method does not respect the vehicle constraints. It allows movements impossible in the real world, like flying or rotating. Currently this sensor applies the complete linear vector, but only the yaw from angular vector.

Topic	Type	Description
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/set_transform	geometry_msgs/Pose	Transform to apply to the sensor's parent.
/carla/[<PARENT ROLE NAME>]/<SENSOR ROLE NAME>/set_target_velocity	geometry_msgs/Twist	Velocity (angular and linear) to apply to the sensor's parent.