How to use autoware actuator instruction to drive carla vehicle

[ahsan155]

I am using the autoware raw_vehicle_cmd_converter to get actuator instruction (accel_cmd, brake_cmd, steer_cmd). I want to use this information to drive vehicle in carla. Here is the code:

`#!/usr/bin/env python3

import rclpy
from rclpy.node import Node
from tier4_vehicle_msgs.msg import ActuationCommandStamped
import carla

class CarlaAutowareBridge(Node):
def init(self):
super().init('carla_autoware_bridge')

    # Initialize CARLA client
    self.client = carla.Client('localhost', 2000)
    self.client.set_timeout(10.0)
    self.world = self.client.get_world()

    # Get the first vehicle actor
    self.vehicle = self.world.get_actors().filter('vehicle.*')[0]

    # Create a subscriber to listen to Autoware's AckermannControlCommand
    self.subscription = self.create_subscription(
        ActuationCommandStamped,
        '/control/command/actuation_cmd',  # Adjust to the correct topic if needed
        self.actuation_control_callback,
        10)
    
    # Ensure subscription is active
    self.get_logger().info('Subscribed to /control/command/actuation_cmd')

def actuation_control_callback(self, msg):
    control = carla.VehicleControl()

    control.throttle = msg.actuation.accel_cmd
    control.brake = msg.actuation.brake_cmd
    control.steer = -msg.actuation.steer_cmd

    # Log received commands for debugging
    self.get_logger().info(f'accel {msg.actuation.accel_cmd} brake {msg.actuation.brake_cmd} steer {msg.actuation.steer_cmd}')
    
    self.vehicle.apply_control(control)

def main(args=None):
rclpy.init(args=args)
node = CarlaAutowareBridge()

try:
    rclpy.spin(node)
except KeyboardInterrupt:
    pass
finally:
    node.destroy_node()
    rclpy.shutdown()

if name == 'main':
main()`

I need help scaling throttle, brake and steer when converting from autoware to carla. How can I figure out the optimal scaling factor that will match driving between two platform. Currently the instruction that autoware is providing, barely moves the vehicle in carla.

[maxime-clem]

You need to create a more accurate conversion map between the Autoware ackermann command and the accel/brake/steer message sent to CARLA.
Autoware provides a package to help calibrate this mapping: https://autowarefoundation.github.io/autoware.universe/main/vehicle/accel_brake_map_calibrator/
An ML-based tool is also currently under review: autowarefoundation/autoware.universe#6897

[ahsan155]

I am trying to calibrate as you suggested but having some issues. When I launch the accel_brake_map_calibrator, I get warning that

"[accel_brake_map_calibrator-1] [WARN] [1716870732.767402744] [accel_brake_map_calibrator]: Accel map or brake map does not exist
[accel_brake_map_calibrator-1] [WARN] [1716870733.366989546] [accel_brake_map_calibrator]: lack of topics (twist, steer, accel, brake)"

accel_map.csv, brake_map.csv and steer_map.csv files are located in correct directory. They are inside /autoware.universe/vehicle/raw_vehicle_cmd_converter/data/default/

I checked the launch file. I looked at the calibration interface

  <!-- calibration interface -->
  <node pkg="accel_brake_map_calibrator" exec="accel_brake_map_calibrator" name="accel_brake_map_calibrator" output="screen">
    <param from="$(var accel_brake_map_calib_param)"/>
    <remap from="~/input/velocity" to="/vehicle/status/velocity_status"/>
    <remap from="~/input/steer" to="/vehicle/status/steering_status"/>
    <remap from="~/input/actuation_status" to="/vehicle/status/actuation_status"/>
    <remap from="~/input/actuation_cmd" to="/control/command/actuation_cmd"/>
    <remap from="~/input/update_map_dir" to="~/update_map_dir"/>
    <param name="csv_default_map_dir" value="$(var csv_default_map_dir)"/>
    <param name="csv_calibrated_map_dir" value="$(var csv_calibrated_map_dir)"/>
    <param name="output_log_file" value="$(find-pkg-share accel_brake_map_calibrator)/config/log.csv"/>
    <param name="pedal_accel_graph_output" value="$(var pedal_accel_graph_output)"/>
    <param name="progress_file_output" value="$(var progress_file_output)"/>
    <param name="use_sim_time" value="$(var use_sim_time)"/>
  </node>

If I assume correctly, accel_brake_map_calibrator needs input from topic such as "/vehicle/status/velocity_status", "/vehicle/status/steering_status". Messages are being published in all the topics except "/vehicle/status/actuation_status". I tried "ros2 topic echo /vehicle/status/actuation_status" and nothing is being published here. What can be the issue? Do I need to run other nodes for accel_brake_map_calibrator to work?

[maxime-clem]

ros2 topic echo /vehicle/status/actuation_status should be published by the vehicle. You should get this information from CARLA and publish it.

[ahsan155]

thanks for the response. Just to be clear, topics like '/vehicle/status/velocity_status', /vehicle/status/steering_status and '/control/command/actuation_cmd' are publishing information about the vehicle in autoware. If I publish carla vehicle information to topic '/vehicle/status/actuation_status', wouldn't that be inconsistent? I am using autoware actuation command to run vehicle in carla as I posted earlier.

    control.throttle = msg.actuation.accel_cmd
    control.brake = msg.actuation.brake_cmd
    control.steer = -msg.actuation.steer_cmd

Is it because of using autoware actuation to run carla, the reason why I should publish carla vehicle information to topic '/vehicle/status/actuation_status'?

[maxime-clem]

/vehicle/status/* topics are supposed to be published by the "vehicle". With the CARLA simulation, the vehicle is simulated and so the information should be retrieved from CARLA and published to Autoware by the interface. See https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/vehicle-interface/.

We will soon add some of the status topics to the CARLA interface currently in development.