Carla

The Carla example in Ufil demonstrates one of the framework’s advanced use cases in a simulated environment using the CARLA simulator. It consists of multiple packages and is included in the ufil_examples module.

This scenario illustrates how a complete infrastructure-based localization system, described in the Complex Scenario, can be executed using a high fidelity simulator.

Scenario

The scenario is a highway segment in TOWN 5, where vehicles are equipped with simulated V2I functionality and broadcast CAM messages. A outdoor sensor node is installed roadside, facing the highway, while the sensitive surface layer (SSL) is simulated in the lanes using a co-simulation based on vehicle ground-truth data. Their fields of view partially overlap.

Illustration of the scenario.

The setup in the CARLA testbed looks like this:

Illustration of the CARLA lab scenario.

Usage

  1. Starting the Example

Launch the full CARLA simulation and Ufil stack with:

ros2 launch ufil_examples carla-highway.launch.xml

The RViz visualization should appear as follows:

RViz showing Ufil visualization in CARLA

  1. Playing the Dataset

In a second terminal, play back the prerecorded bag file for TOWN 5 to replay all sensor data and trigger the perception pipeline. Using a higher clock frequency improves timestamp accuracy.

ros2 bag play ./260223_highway/ --topics /carla/lidar /ssl/ssl_1/map  /ssl/ssl_1/map_update /carla/objects /carla/actor_list /carla/rgb_view_left/image /carla/rgb_view_right/image --clock 300

The visualization will now display the tracking in action and produce output like this:

RViz showing Ufil tracking in the CARLA lab scenario

Dataset

The dataset used for this example is currently redacted and will be made available after the paper is accepted at the corresponding venue.